the sixth chapter of the Bhagavad Gītā which is the most important authority on Yoga philosophy, Śri Krishna explains to Arjuna the meaning of Yoga as a deliverance from contact with pain and sorrow. It is said:
‘When his mind, intellect and self (ahamkāra) are under control, freed from restless desire, so that they rest in the spirit within, a man becomes a Yukta – one in communion with God.