Chapter 2: Yoga of Knowledge - Verse 53, 54 & 55

Verse 53:

"sruti-vipratipanna te yada sthasyati niscala samadhav acala buddhis tada yogam avapsyasi "

(53) When your intellect, well enlightened by hearing from Me and firmly placed, stands unshaken in a concentrated mind, then you will attain the vision of self.
Explanation: When your mind is no longer disturbed by the flowery language of the Vedas, and when it remains fixed in the trance of self-realization, then you will have attained the divine consciousness. In such a concentrated mind, purified by the performance of duties without attachment, will be generated true Yoga, which consists in the vision of the Self.
Karma Yoga, where the knowledge of the real nature of the Self obtained from the scriptures, leads to a firm devotion to knowledge known as the state of firm wisdom. The state of firm wisdom which is in form of devotion to knowledge, generates the vision of Self. This vision is Yoga.

Verse 54:

"arjuna uvaca sthita-prajnasya ka bhasa samadhi-sthasya kesava sthita-dhih kim prabhaseta kim asita vrajeta kim "

(54) Arjuna said:
What is the mode of speech of him who is of firm wisdom, who is established in the control of the mind? What will a man of firm wisdom speak, O Krishna? How does he sit? How does he move?
Explanation: Arjuna questions about the nature of 'firm wisdom' which constitutes the means for the attainment of Yoga and which itself is attainable through Karma Yoga which consists in work with detachment and also about the mode of behaviour of a man with 'firm wisdom'.
What is the speech of a man of firm wisdom who is abiding with the mind controlled? What is his nature?

Verse 55:

"sri-bhagavan uvaca prajahati yada kaman sarvan partha mano-gatan atmany evatmana tustah sthita-prajnas tadocyate "

(55)The Lord said:
When a man gives up all varieties of sense desire which arise from mental concoction, and when his mind finds satisfaction in the Self alone, then he is said to be of firm wisdom.
Explanation: When a person is satisfied in himself, with himself, i.e. when his mind depends on Self within himself; and being content with that expels all desires of the mind - then he is said to be a man of firm wisdom.
This is the highest form of devotion to knowledge.

The Lord continues his description of a man who has realized the Self in the next stanza.

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