English Translation of Chapter 6 without Verses 
।6.1।   Lord Krishna 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, he who does not keep a fire (arrangement to cook food) and has stopped doing action.

।6.2।  O Arjuna, consider renunciation same as Yoga. No body can be a yogi without giving up expectations (fruits of action).

।6.3।   Action is said to be the means for the sage who seeks to climb the heights of Yoga; but when he has climbed the heights of Yoga, tranquillity (selfless action without any attachment) is said to be the means.

।6.4।   When one loses all desires of attachment, for sense objects and actions, then he is said to have climbed the heights of Yoga.

।6.5।   For him who has conquered the mind, the mind is the best of friends; but for one who has failed to do so, his mind will remain the greatest enemy.

।6.6।   The Self is the friend of the self of him who has conquered the self, but to the unconquered self, this Self acts and behaves like an enemy.

।6.7।   Who has conquered the self and remains peaceful in cold and heat, pleasure and pain, and also in honour and dishonour; God reflects in such a being.

।6.8।   One whose mind is satisfied with knowledge and realization, who remains situated in tanscendence, who has his organs under control, who treats equally a lump of earth, a stone and gold; is said to be fully established as a yogi.

।6.9।   He who is of the same mind to good-hearted, friend, enemy, indifferent, neutral, hateful, relative, righteous and unrighteous is an excellent human being.

।6.10।  Yogi should constantly fix his mind on God, remaining in a solitary place all alone, controlling his thought and mind, free from desire and sense of possession.

।6.11।  Having firmly established in a clean place his seat, neither too high nor too low, and successively placing kusa-grass, deer- skin and cloth.

।6.12।  He should practise yoga for the purification of the self, seated on the seat, having made the mind one-pointed, with the actions of the mind and the senses controlled.

।6.13।  Let him firmly hold his body, head and neck erect and still, gazing at the tip of his nose, without looking in other directions.

।6.14।  Calm-minded, fearless, firm in the vow of celibacy; controlling mind fully; let the master of Yoga think of Me and consider Me as his supreme goal.

।6.15।  Having controlled his mind, and thinking of Me always, Yogi achieves the state of ultimate peace which is similar to My own state.

।6.16।  O Arjuna, This Yoga is not for those, who eats too much or eats too little, sleeps too much or does not sleep enough.

।6.17।  By regulating his habits of eating, sleeping, recreation and work, Yogi is capable to mitigate all material pains.

।6.18।  When the subdued mind become situated in the self alone, then, free of all yearning for objects of desire, one is said to be Yogi.

।6.19।  Just as a lamp in the windless place does not flicker, similar is the state of Yogi, whose mind is situated on the Self.

।6.20।  When the mind, restrained by the practice of Yoga attains to quietude and when seeing the Self by the self, he is satisfied in hiw own Self.

।6.21।  When one feels the infinite joy, whcih can be grasped by the intellect and which is beyond the senses; established in that, he never swerves from the reality.

।6.22।  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.

।6.23।  Freeing yourself from any relation with misery is called yoga. This yoga should be practised with determination and without any depression in mind.

।6.24।  Renouncing every desire which imagination can conceive, controlling all the senses by the power of mind.

।6.25।  Little by little let him attain to quietude by the intellect held firmly; having made the mind establish itself in the Self, let him not think of anything else.

।6.26।  When the restless and unsteady mind wanders away in different sense objects,restrain it and bring it back under the control of the Self alone.

।6.27।  The yogi whose mind is at peace, who is free from all evil and who has controlled his rajas tendencies; verily attains the highest perfection of transcendental happiness.

।6.28।  Thus devoting himself to the Yoga of the self, freed from impurities, the Yogi easily attains the supreme bliss of contact with the Lord.

।6.29।  A true yogi observes himself in all beings and also sees every being in himself. Indeed, the self-realized person sees the Supreme Lord, everywhere.

।6.30।  For one who sees Me everywhere and sees everything in Me, I am never lost, nor is he ever lost to Me.

।6.31।  He who, being established in unity with Me, worships Me as situated in all beings; that Yogi abides in Me, even if doing all the activites like a normal human.

।6.32।  O Arjuna, that yogi is considered the best who judges what is happiness and sorrow in all beings by the same standard as he would apply to himself.

।6.33।  Arjuna said, O Krishna, This Yoga of equal-mindedness, spoken by You; I do not find its steady continuance, because of continuous flickering of the mind.

।6.34।   O Krishna, the mind is restless, turbulent, strong and unyielding; I deem it as difficult to control it as to control the wind.

।6.35।  Krishna said, O Arjuna, Undoubtedly, the mind is difficult to control and restless; but by practice and dispassion it may be restrained.

।6.36।  In my opinion Yoga is hard to attain by a person of unrestrained mind. However, it can be attained through right means by him, who strives for it and has a controlled mind.

।6.37।  Arjuna said, O Krsna - If a person, who is possessed of faith but has put in only inadequate effort, finds his mind wandering away from Yoga, and fails to attain perfection - what way does he go ?

।6.38।  O Krishna, fallen from both sides, does he not perish like a scattered cloud, supportless, deluded on the path of Brahman?

।6.39।  O Krishna, You are the only one who can dispel this doubt completely; because it is not possible for any one else, except you to remove this doubt.

।6.40।  Krishna said, O Arjuna, there is certainly no ruin for him here or hereafter. My dear, no one engaged in good meets with a deplorable end.

।6.41।  He who falls from Yoga, attains the worlds of the righteous and having after living there for a long time, is born in a pure and wealthy home.

।6.42।  Or he is born in a family of the wise Yogis; but a birth like this is very difficult to obtain in this world.

।6.43।  O Arjuna, There he regains the disposition of mind which he had in his former body, and from there he strives much more for success in Yoga.

।6.44।  Even if bounded by the sense objects, he develops interest in Yoga by the power of his earlier practice. Even though he is an enquirer about Yoga, he sometimes transcends the instructions of Vedas.

।6.45।  After that, the assiduously striving man of Yoga, having his sins completely cleansed and slowly perfected through many briths, reaches the Supreme Goal.

।6.46।  The man of Yoga is superior to the men of austerities and is considered superior even to the men of knowledge; and the man of Yoga is superior to the men of action. Therefore, O Arjuna ! you shall become a man of Yoga.

।6.47।  Even among all the yogis, he who adores Me with his mind fixed on Me and with full of faith,he is considered by Me to be the best of the yogis.