6.20 यत्र where, उपरमते attains ietude, चित्तम् mind, निरुद्धम् restrained, योगसेवया by the practice of Yoga, यत्र where, च and, एव only, आत्मना by the Self, आत्मानम् the Self, पश्यन् seeing, आत्मनि in the Self, तुष्यति is satisfied.Commentary: The verses 20, 21, 22 and 23 must be taken together.When the mind is completely withdrawn from the objects of the senses, supreme peace reigns within the heart. When the mind becomes ite steady by constant and protracted practice of concentration the Yogi beholds the Supreme Self by the mind which is rendered pure and onepointed and attains to supreme satisfaction in the Self within.