yadā viniyataḿ cittam
ātmany evāvatiṣṭhate
nispṛhaḥ sarva-kāmebhyo
yukta ity ucyate tadā
Translation of Bhagavad Gita 6.18
When the yogi, by practice of yoga, disciplines his mental activities and becomes situated in transcendence—devoid of all material desires—he is said to be well established in yoga.
Commentary by Sri Vishvanatha Chakravarthi Thakur of Gaudiya Sampradaya:
When does the yogi perfect that yoga? This verse describes that situation. The consciousness stops all movement (viniyatam cittam), and is firmly fixed without distraction in the self alone (atmani avatisthate).
Commentary by Sri Ramanuja of Sri Sampradaya:
6.18 When the mind which usually goes after sense enjoyments, abandons such desires and ‘rests on the self alone,’ i.e., becomes well-settled on account of discerning unsurpassable good in the self alone and rests there alone steadily, without movement — then, being ‘free of yearning for all desires,’ one is said to be integrated. He is said to be fit for Yoga.
Commentary by Sri Sridhara Swami of Rudra Sampradaya:
When does a person perfect the practise of yoga or the science of the individual consciousness attaining communion with the ultimate consciousness? The answer is when the mind becomes fixed and focused exclusively on the atma or soul within. Lord Krishna declares that at this time a person can be considered as having perfected yoga.
Commentary by Sri Madhvacharya of Brahma Sampradaya:
The word atmany is used by Lord Krishna to indicate the eternal transcendental abode of the Supreme Lord.
Commentary by Sri Keshava Kashmiri of Kumara Sampradaya:
When will the persons qualified to practice yoga or the science of the individual consciousness attaining communion with then ultimate consciousness become established in yoga reaching perfection. Lord Krishna declares that when the mind refrains and abstains from all external mental activity and becomes exclusively riveted internally on the atma or soul within. Then it has been determined by experts that the mind is established in yoga.
Commentary by Sri Adi Shankaracharya of Advaita Sampradaya:
6.18 A yogi, nihsprhah, who has become free from hankering, thirst; sarva-kamebhyah, for all desirable objects, seen and unseen; is tada, then; ucyate, said to be; yuktah, Self-absorbed; yada, when; the viniyatam, controlled; cittam, mind, the mind that has been made fully one-pointed by giving up thought of external objects; avatisthate, rests; atmani eva, in the non-dual Self alone, i.e. he gets established in his own Self. An illustration in being given for the mind of that yogi which has become Self-absorbed:
Commentary by Sri Abhinavagupta of Kaula Tantra Sampradaya:
6.18 Yada etc. The distinguishing mark of this man of Yoga is : Havnig his mind controlled in nothing but the Self, he does not crave at all [for anything].
Sanskrit to English Word for Word Meanings:
yadā — when; viniyatam — particularly disciplined; cittam — the mind and its activities; ātmani — in the transcendence; eva — certainly; avatiṣṭhate — becomes situated; nispṛhaḥ — devoid of desire; sarva — for all kinds of; kāmebhyaḥ — material sense gratification; yuktaḥ — well situated in yoga; iti — thus; ucyate — is said to be; tadā — at that time.
