Sārathi

Chapter 6: Dhyana Yoga, verse 12

तत्रैकाग्रं मनः कृत्वा यतचित्तेन्द्रियक्रियः।
उपविश्यासने युञ्ज्याद्योगमात्मविशुद्धये ॥

Say ittatraikāgraṁ manaḥ kṛitvā yata-chittendriya-kriyaḥ
upaviśhyāsane yuñjyād yogam ātma-viśhuddhaye

Practice reciting

Translation

There, having made the mind one-pointed, with the actions of the mind and senses controlled, let him, seated on the seat, practice Yoga for the purification of the self.

Swami Sivananda

Classical commentariesFor deeper study. Most are in the original Sanskrit.

Advaita

Non-dual: the self and the absolute are one.

Vishishtadvaita

Qualified non-dual: souls are real parts of the divine.

Dvaita

Dual: the soul and God are eternally distinct.

Shuddhadvaita

Pure non-dual, centred on grace and devotion.

Kashmir Shaivism

The Gita read through Trika Shaiva philosophy.

Modern teachers

20th-century teachers writing for today's readers.