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I think Yoga is hard to be attained by one of uncontrolled self, but the self-controlled and striving one can attain to it by the (proper) means.

Yoga is hard to attain for one whose self is unrestrained; this is my view. But one who has mastered himself and keeps striving can attain it by the right means.

Krishna adds a clarification. For one who has not restrained himself, yoga is hard to attain; this is his considered view. But for one who has brought himself under control and keeps striving, it can be reached by the right means. The verse balances realism and hope. Success depends neither on luck nor on extraordinary gifts, but on sustained effort guided by proper method. It closes Krishna's answer and prepares for Arjuna's next question about those who try and fail.