Bhagavad Gita • Chapter 6 • Shloka 23
तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम्।
स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा।।
Know that state, which is the separation from union with sorrow, to be called Yoga.
This Yoga should be practiced with firm determination and an undiscouraged mind.
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