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.
Holding the body, head and neck erect and still, being steady, looking at the tip of his own nose-and not looking around;OPEN VERSE
He should remain seated with a placid mind, free from fear, firm in the vow of a celibate, and with the mind fixed on Me by controlling it through concentration, having Me as the supreme Goal.OPEN VERSE
Concentrating the mind thus for ever, the yogi of controlled mind achieves the Peace which culminates in Liberation and which abides in Me.OPEN VERSE
But, O Arjuna, Yoga is not for one who eats too much, nor for one who does not eat at all; neither for one who habitually sleeps too long, nor surely for one who keeps awake.OPEN VERSE
Yoga becomes a destroyer of sorrow of one whose eating and movements are regulated, whose effort in works is moderate, and whose sleep and wakefulness are temperate.OPEN VERSE
A man who has become free from hankering for all desirable objects is then said to be Self-absorbed when the controlled mind rests in the Self alone.OPEN VERSE