In the previous verses, we discussed that the yogi who disciplines his mind and is able to focus his thoughts on God alone, is said to be established in yoga. His mind becomes as steady as a lamp in a windless place, because his mind is sheltered by meditation from the winds of desire and yearning.
Some people shelter their mind from knowledge itself! Once a villager won a lottery. So, he took his wife and went to a big city for the first time. They went to a five star hotel and booked a room. They wanted to make sure that they don’t appear stupid, so as soon as they entered a room they told the porter, “Don’t think, we villagers will accept anything that you give. This room is very narrow, does not have any windows and does not even have a bed. We refuse to stay here”. He replied, “But sir, we haven’t reached your room. This is only the lift”.
Having said that the yogi reaches the state of peace and bliss of God realization, the Lord now describes this state in the following verses.
यत्रोपरमते चित्तं निरुद्धं योगसेवया ।
यत्र चैवात्मनात्मानं पश्यन्नात्मनि तुष्यति ॥६- २०॥
yatroparamate chittaM niruddhaM yogasevayaa .
yatra chaivaatmanaatmaanaM pashyannaatmani tushhyati .. 6.20..
The state in which, the mind is controlled by yoga and becomes still and the yogi uses his purified self to realize God within himself and rejoices in that self.
yatra -in which : uparamate – becomes still : chittaM – mind : niruddhaM – curbed, stopped: yogasevayaa – through practice of yoga : cha – and : aatmana – through the purified self : aatmaanaM – God within one’s self : pashyan – realizing : aatmani - in that self : eva – only : tushhyati - rejoices
When the yogi practices dhyanayoga, then his mind gets established in the thought of God alone and it becomes controlled. He also withdraws himself totally from the thoughts of the world and all the enjoyments associated with the world.
The determination to practice meditation is called dhaaraNaa, 
while the process of meditation, where there is a continuous flow of the mind towards the self and there are no thoughts of anything else is called dhyaana. In the process of meditation there are three elements – the person who meditates – the meditator, the process of meditation and aim to be achieved. When a person is aware that he is meditating on God, then the process is only meditation. But when a person becomes so engrossed in his aim to reach God, that he does not think of either himself or the process and is aware of nothing other than God, then he reaches samaadhi (trance). In the former state, there is ekagra or total concentration of mind and the person who is meditating is trying to concentrate consciously, but in the latter there is niruddha and the mind gets tied up and there is no awareness of anything and he becomes one with God.
A man was walking through a forest pondering life. He walked, pondered, walked, and pondered. He felt very close to nature and even close to God. He felt so close to God that he felt if he spoke God would listen. So he asked, “God, are you listening?” And God replied, “Yes my son, I am here.” The man stopped and pondered some more. He looked towards the sky and said, “God, what is a million years to you?” God replied, “it is just a second” He then asked, “and what is a million rupees”. “Just a paisa” God, “Can you give me a million rupees?”. God replied, “Sure, in a second”
When yogis meditates with total concentration, during the meditation process, they reach a stage when they can gain mystical powers. This might deviate them from the ultimate Goal. These are all obstacles because they again tempt the yogi with material riches, power etc. These have to be overcome and only when a yogi remains indifferent to them, he can reach the ultimate stage of God realization.
The yogi realizes the self in him, by his own self, because the self remains the same. The main obstacles to realizing the self are the attachments to worldly objects. When the yogi begins to meditate, he lets go of all attachments to the world and the mind becomes quiet and then he is able to realize the inner joy. This joy is so permanent that he is completely satisfied with it and does not seek or want anything else.
