Chapter 6 verse 28
“The yogi, always engaging the mind thus in the practice of yoga, freed from sins, easily enjoys the infinite Bliss of ‘Brahman-contact’”
Yoga in this verse refers to the detachment from the body, mind and intellect and attachment to the immutable Self and infinite Bliss. When the person is in that state, no action or thought is attached to the doer since the doer does not claim authorship for the action or thought!
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