Chapter 6 verse 4
“When a man is not attached to sense objects or to actions, having renounced all thoughts, he is said to have attuned to yoga”
In Vivekachudamani, Adi Shankara talks about sama aadhi sat sampathi- 6 jewels to Self attainment. Sama-mind control was talked about in the previous verse by Krishna. In this verse dama is being illustrated. Dama is the control of the sense organs. When a person controls their senses organs and organs of action, thus helping to renounce thoughts, they become a yogi and self realized person.
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