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.
As a lamp kept in a windless place does not flicker, such is the simile thought of for the yogi whose mind is under control, and who is engaged in concentration on the Self.OPEN VERSE
At the time when the mind restrained through the practice of Yoga gets withdrawn, and just when by seeing the Self by the self-one remains contented in the Self alone;OPEN VERSE
When one experiences that absolute Bliss which can be intuited by the intellect and which is beyond the senses, and being established (thus) this person surely does not swerve from Reality;OPEN VERSE
Obtaining which one does not think of any other acquisition to be superior to that, and being established in which one is not perturbed even by great sorrow;OPEN VERSE
One should know that severance of contact with sorrow to be what is called Yoga. That Yoga has to be practised with perseverance and with an undepressed heart.OPEN VERSE