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Chapter 6, Verse 18

यदा विनियतं चित्तमात्मन्येवावतिष्ठते। निःस्पृहः सर्वकामेभ्यो युक्त इत्युच्यते तदा।।6.18।।

yadā viniyataṃ cittamātmanyevāvatiṣṭhate। niḥspṛhaḥ sarvakāmebhyo yukta ityucyate tadā।।6.18।।

Word by word

यदा
when
विनियतम्
fully controlled/disciplined
चित्तम्
the mind
आत्मनि
in the Self
एव
alone/only
अवतिष्ठते
becomes established/rests
निःस्पृहः
free from longing/desireless
सर्वकामेभ्यः
for all desires/objects of desire
युक्तः
united/disciplined (in yoga)
इति
thus
उच्यते
is said/called
तदा
then

Commentary

18. When the well-restrained thought is established in the Self only, without longing for any of the objects of desire, then he is said to be a Saint.

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

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Sanskrit (in order)

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यदा
विनियतम्
चित्तम्
आत्मनि
एव
अवतिष्ठते
निःस्पृहः
सर्वकामेभ्यः
युक्तः
इति
उच्यते
तदा

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