यदा विनियतं चित्तमात्मन्येवावतिष्ठते |
नि:स्पृह: सर्वकामेभ्यो युक्त इत्युच्यते तदा || 18||
yadā viniyataṁ chittam ātmanyevāvatiṣhṭhate
niḥspṛihaḥ sarva-kāmebhyo yukta ityuchyate tadā
yadā—when; viniyatam—fully controlled; chittam—the mind; ātmani—of the self; eva—certainly; avatiṣhṭhate—stays; nispṛihaḥ—free from cravings; sarva—all; kāmebhyaḥ—for yearning of the senses; yuktaḥ—situated in perfect Yog; iti—thus; uchyate—is said; tadā—then
When the perfectly controlled mind rests in the Self free from longing for all enjoyments, then one is said to have attained yoga.
When the mind is merged in Atma, that very moment man attains Moksha, liberation from all the ills and evils of human existence. Three aspects of Yogasiddhi are mentioned here – (1) Desirelessness, (2) Control of mind, and (3) Union with Atma. The same process is stated in Vedanta in different terminology (1) Vasanakshaya, (2) Manonasa, and (3) Tattvajnana. One is actioned by the others (i.e.) by the elimination of all desires mind ceases to exist, and the Atmajnana is realised. When Atmajnana dawns the mind with all its propensity for material enjoyment is destroyed.
Desires are the shackles that bind man to samsara. When these desires disturb the mind, Dhyana is not possible. When by discrimination and dispassion, desires are rooted out, the pure mind automatically merges in Atma which is the source from which it has risen. All the desires without any reservation should be given up.
The mind should be brought to one focal point and remain steady at that point, namely the Self. The least distraction draws it away from the object of meditation.
The mind should rest in Atma alone, to the complete exclusion of everything else. When there are no desires and distractions, the mind by itself comes to rest in its own source-Atma.
Such a yogi who rests steadfastly in Atma is Yogarudha. He is united with the supreme Self.
Question: When is it said that man has attained unity with Atma?
Answer: When there are no desires, when the mind is controlled and rests in the Self, then it is said that Yogasiddhi is achieved. When these conditions are fulfilled, man attains liberation, (Moksha) freedom from everything that binds man to earthily life.