Shrimad Bhagavad Gita As It Is -Shri Shrimad A.C Bhaktivedanta Swami Prabhupada
Contents of the Gita Summarized
Chapter 2: Verse-61
The king was able to control his senses because of the following qualifications, as mentioned in the Srimad-Bhägavatam 
sa vai manahkrsna-pädäravindayor
“King Ambarisa fixed his mind on the lotus feet of Lord Krsna, engaged his words in describing the abode of the Lord, his hands in cleansing the temple of the Lord, his ears in hearing the pastimes of the Lord, his eyes in seeing the form of the Lord, his body in touching the body of the devotee, his nostrils in smelling the flavor of the flowers offered to the lotus feet of the Lord, his tongue in tasting the tulasileaves offered to Him, his legs in traveling to the holy place where His temple is situated, his head in offering obeisances unto the Lord, and his desires in fulfilling the desires of the Lord... and all these qualifications made him fit to become a mat-para devotee of the Lord.” The word mat-para is most significant in this connection. How one can become mat-para is described in the life of Mahäräja Ambarisa. Srila Baladeva Vidyäbhüsana, a great scholar and äcärya in the line of the mat-para, remarks, mad-bhakti-prabhävena sarvendriya-vijaya-pürvikä svätma-drstih sulabheti bhävah. “The senses can be completely controlled only by the strength of devotional service to Krsna.” Also, the example of fire is sometimes given: “As a blazing fire burns everything within a room, Lord Visnu, situated in the heart of the yogi, burns up all kinds of impurities.”
The Yoga-sütra also prescribes meditation on Visnu, and not meditation on the void. The so-called yogis who meditate on something which is not on the Visnu platform simply waste their time in a vain search after some phantasmagoria. We have to be krsna conscious—devoted to the Personality of Godhead. This is the aim of the real yoga.