1. 16

    नात्यश्नतस्तु योगोऽस्ति न चैकान्तमनश्नतः । न चातिस्वप्नशीलस्य जाग्रतो नैव चार्जुन ॥ ६-१६ ॥

    Yoga is neither for him who eats too much; nor for him who totally abstains from eating; nor for him who is prone to sleep too much; and nor for him who keeps awake too much.

  2. 17

    युक्ताहारविहारस्य युक्तचेष्टस्य कर्मसु । युक्तस्वप्नावबोधस्य योगो भवति दुःखहा ॥ ६-१७ ॥

    He who is temperate in his habits of eating, sleeping, working and recreation can mitigate all material pains by practicing the yoga.

  3. 18

    यदा विनियतं चित्तमात्मन्येवावतिष्ठते । निःस्पृहः सर्वकामेभ्यो युक्त इत्युच्यते तदा ॥ ६-१८ ॥

    When the perfectly controlled mind rests in the Self only, free from longing for all the objects of desires, then it is said, "He rests in the Self alone".

  4. 19

    यथा दीपो निवातस्थो नेङ्गते सोपमा स्मृता । योगिनो यतचित्तस्य युञ्जतो योगमात्मनः ॥ ६-१९ ॥

    As a lamp placed in a windless spot does not flicker to such is compared the Yogi of controlled mind, practising Yoga in the Self (or absorbed in the Yoga of the Self).

  5. 20

    यत्रोपरमते चित्तं निरुद्धं योगसेवया । यत्र चैवात्मनात्मानं पश्यन्नात्मनि तुष्यति ॥ ६-२० ॥

    At the time when the mind restrained through the practice of Yoga gets withdrawn, and just when by seeing the Self by the self; one remains contented in the Self alone.