Verso 6.186.16.26.36.46.56.66.76.86.96.106.116.126.136.146.156.166.176.186.196.206.216.226.236.246.256.266.276.286.296.306.316.326.336.346.356.366.376.386.396.406.416.426.436.446.456.466.47

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

When the disciplined mind rests in the self alone, free of longing for any object of desire, then one is said to be joined in yoga.

Krishna describes the moment when practice bears fruit. The mind, carefully disciplined, settles in the self alone. It no longer longs for any object of desire. Then one is called yukta, truly joined. The verse defines yoga by two features together: the mind rests within, and craving for outer things has fallen away. One without the other is incomplete, since a mind that is quiet but still secretly wanting has not yet found its rest. This leads into the famous image of the lamp.