If we actually want to participate in the perfection of the yoga system, in Bhagavad-gita we will find the authoritative statements of the Supreme Person.
It is certainly remarkable that the perfection of yoga was taught in the middle of a battlefield. It was taught to Arjuna, the warrior, just before Arjuna was to engage in a fratricidal battle. Out of sentiment, Arjuna was thinking, “Why should I fight against my own kinsmen?” That reluctance to fight was due to Arjuna’s illusion, and just to eradicate
that illusion, Sri Krishna spoke the Bhagavad-gita to him. One can just imagine how little time must have elapsed while Bhagavad-gita was being spoken. All the warriors on both sides were poised to fight, so there was very little time indeed—at the utmost, one hour. Within this one hour, the whole Bhagavad-gita was discussed, and Sri Krishna set forth the perfection of all yoga systems to His friend Arjuna. At the end of this great discourse, Arjuna set aside his misgivings and fought.
However, within the discourse, when Arjuna heard the explanation of the meditational system of yoga—how to sit down, how to keep the body straight, how to keep the eyes half-closed and how to gaze at the tip of the nose without diverting one’s attention, all this being conducted in a secluded place, alone—he replied, yo ’yaà yogas tvayä proktaù


“O Madhusüdana, the system of yoga which You have summarized appears impractical and unendurable to me, for the mind is restless and unsteady.” (Bg. 6.33) This is important. We must always remember that we are in a material circumstance wherein at every moment our mind is subject to agitation. Actually we are not in a very comfortable situation. We are always thinking that by changing our situation we will overcome our mental agitation, and we are always thinking that when we reach a certain point, all mental agitations will disappear. But it is the nature of the material world that we cannot be free from anxiety. Our dilemma is that we are always trying to make a solution to our problems, but this universe is so designed that these solutions never come.