15. Thus always keeping the mind balanced, the Yogin, with the mind controlled, attains to the Peace abiding in Me, which culminates in Nirvana (moksha,)

Source: Alladi Mahadeva Sastri, The Bhagavad-Gita with the Commentary of Sri Shankaracharya (1897), public domain

Word bank

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• disciplining/uniting (the mind, present participle)
• thus, in this manner
• always, constantly
• the self
• the yogi
• one whose mind is controlled/restrained
• peace
• having liberation (nirvana) as its highest culmination
• abiding in Me / whose ultimate abode is Me
• attains, reaches