Chapter 6: Yoga of Meditation; Dhyana Yoga

In this chapter, Krishna teaches us how to focus our minds and also details the nature of the mind. Here Krishna advises us to become the witnessing awareness and remains mindful of each and every moment to transform our old habitual patterns known as Samskaras.
Krishna describes sitting meditation, in a quiet, clean, and uncluttered place, to purify the mind. He again uses the terms sthira and sthitah, to indicate a sense of undisturbed steadiness.

Verses 34 and 35: Arjuna says: “As we all know, Krishna, the mind is ‘agitation’, a strong, well-rooted tyrant. I think of it as impossible to control as the wind.” Krishna replies “No doubt, O mighty-armed (Arjuna), the agitated mind is very difficult to control. But, oh son of Kunti, by abhyaasa (practice) and vairagyam (objectivity), it is mastered.