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.
One should gradually withdraw with the intellect endowed with steadiness. Making the mind fixed in the Self, one should not think of anything whatsoever.OPEN VERSE
(The yogi) should bring (this mind) under the subjugation of the Self Itself, by restraining it from all those causes whatever due to which the restless, unsteady mind wanders away.OPEN VERSE
Supreme Bliss comes to this yogi alone whose mind has become perfectly tranquil, whose (quality of) rajas has been eliminated, who has become identified with Brahman, and is taintless.OPEN VERSE
By concentrating his mind constantly thus, the taintless yogi easily attains the absolute Bliss of contact with Brahman.OPEN VERSE
One who has his mind Self-absorbed through Yoga, and who has the vision of sameness every-where, see this Self existing in everything, and every-thing in his Self.OPEN VERSE