In the Perfection of Yoga Srila Prabhupada cuts through the commercialism that now clouds the real meaning of yoga. He explains that beyond postures and exercises, beyond even meditation and breathing techniques, the ancient teachings of yoga aim at lasting, loving union with the Supreme Personality of Godhead, Lord Sri Krishna.
TEXTS 20-23:
In the stage of perfection called trance, or samādhi, one’s mind is completely restrained from material mental activities by practice of yoga. This perfection is characterized by one’s ability to see the Self by the pure mind and to relish and rejoice in the Self. In that joyous state, one is situated in boundless transcendental happiness, realized through transcendental senses. Established thus, one never departs from the truth, and upon gaining this he thinks there is no greater gain. Being situated in such a position, one is never shaken, even in the midst of greatest difficulty. This indeed is actual freedom from all miseries arising from material contact.
https://vedabase.io/en/library/bg/6/20-23/
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