What is Yoga?

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In Bhagavad Gita Lord Krishna instructs to Arjuna,

BG 2.48: Perform your duty equipoised, O Arjuna, abandoning all attachment to success or failure. Such equanimity is called yoga.

BG 6.2: What is called renunciation you should know to be the same as yoga, or linking oneself with the Supreme, O son of Pandu, for one can never become a yogī unless he renounces the desire for sense gratification.

Who is a successful Yogi ?
BG 2.56: One who is not disturbed in mind even when there miseries or happiness, and who is free from attachment, fear and anger.
BG 2.57: One who is unaffected by whatever good or evil he may obtain, neither praising it nor despising it.

BG 2.58: One who is able to withdraw his senses from sense objects, as the tortoise draws its limbs within the shell

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