तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम् | स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा
taṃ vidyād duḥkhasaṃyogaviyogaṃ yogasaṃjñitam . sa niścayena yoktavyo yogo.anirviṇṇacetasā
应知那与痛苦结合的分离，即是所谓的瑜伽（yoga）。那瑜伽必须以坚韧不拔、不沮丧的心去实践。
One should know that severance of contact with sorrow to be what is called Yoga. That Yoga has to be practised with perservance and with an undepressed heart.
在第20、21和22节中，主描述了瑜伽（yoga）的好处，即通过安住于自我（ātman）而获得完美的满足、无限无尽的至福、摆脱悲伤和痛苦等。他进一步补充说，这种瑜伽应该以坚定的信念和钢铁般的决心，以及不沮丧的心去实践。一个心智动摇的灵性求道者将无法在瑜伽中取得成功。当他在道路上遇到一些障碍时，他会放弃练习。修行者也必须勇敢、开朗和自力更生。
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.