6.23 तम् that, विद्यात् let (him) know, दुःखसंयोगवियोगम् a state of severnace from union with pain, योगसंज्ञितम् called by the name of Yoga, सः that, निश्चयेन with determination, योक्तव्यः should be practised, योगः Yoga, अनिर्विण्णचेतसा with undesponding mind.Commentary: In verses 20, 21 and 22 the Lord describes the benefits of Yoga, viz., perfect satisfaction by resting in the Self, infinite unending bliss, freedom from sorrow and pain, etc. He further adds that this Yoga should be practised with a firm conviction and iron determination and with nondepression of heart. A spiritual aspirant with a wavering mind will not able to attain success in Yoga. He will leave the practice when he meets with some obstacles on the path. The practitioner must also be bold, cheerful and selfreliant.