The sixth chapter of the Bhagavad Gita is Dhyana Yoga. In this chapter, Krishna reveals the Yoga of Meditation and how to practise this Yoga. He discusses the role of action in preparing for Meditation, how performing duties in devotion purifies one's mind and heightens one's spiritual consciousness. He explains in detail the obstacles that one faces when trying to control their mind and the exact methods by which one can conquer their mind. He reveals how one can focus their mind on Paramatma and unite with the God.
The Blessed Lord said: He who performs an action which is his duty, without depending on the result of action, he is a monk and a yogi; (but) not (so in) he who does not keep a fire and is action-less.OPEN VERSE
That which they call monasticism, know that to be Sannyasa Yoga, O Pandava, For, nobody who has not given up expectations can be a yogi.OPEN VERSE
For the sage who wishes to ascend to (Dhyana-) yoga, action is said to be the means. For that person, when he has ascended to (Dhyana-)yoga, inaction alone is said to be the means.OPEN VERSE
Verily, [Verily: This word emphasizes the fact that, since attachment to sense objects like sound etc. and to actions is an obstacle in the path of Yoga, therefore the removal of that obstruction is the means to its attainment.] when a man who has given up thought about everything does not get attached to sense-objects or actions, he is then said to be established in Yoga.OPEN VERSE
One should save oneself by oneself; one should not lower oneself. For oneself is verily one's own friend; oneself is verily one's own enemy.OPEN VERSE
Of him, by whom has been conquered his very self by the self, his self is the friend of his self. But, for one who has not conquered his self, his self itself acts inimically like an enemy.OPEN VERSE