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Srimad Bhagavad Gita -Ramanujacharya
Chapter-6 Dhyāna Yogaḥ
When does one succeed in Yoga? Sri Krishna replies:— yadā hi nendriyārtheṣu na karmasv-anuṣajjate | CommentaryThe ultimate stage of Yoga has been reached when the spiritual practitioner, because of a natural disposition to experience the Self, loses attachment to sense-objects and 'things other than the ātman', as well as activities associated with them. Therefore, for one who wishes to succeed in Yoga, but is still disposed to sense-gratification, Karma Yoga, consisting of the [constant] practice of detachment to these objects, becomes the means for success in Yoga. |