6.23

तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम् ।
स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा ॥

taṃ vidyād duḥkhasaṃyogaviyogaṃ yogasaṃjñitam
sa niścayena yoktavyo yogo 'nirviṇṇacetasā

Kṛṣṇa (कृष्ण) is still speaking. tam (तम्) closes the relatives of 6.20–6.22.

The verse

One should know that as named yoga, the unjoining from the joining with pain; that yoga is to be practiced with resolve, by a mind that does not grow weary.

नेपालीमा

दुःखसँगको संयोगबाट हुने वियोगलाई योग नामले जान्नुपर्छ। त्यो योग नथाक्ने मनले निश्चयसहित अभ्यास गर्नुपर्ने हो।

Where it sits

This is the definition the lamp and the four relatives were walking toward. Yoga is the parting from pain, and it is practiced, not waited for. 6.24 begins the method of that practice.

Split: तम् + विद्यात् + दुःख-संयोग-वियोगम् + योग-संज्ञितम् + सः + निश्चयेन + योक्तव्यः + योगः + अनिर्विण्ण-चेतसा

tam + vidyāt + duḥkha-saṃyoga-viyogam + yoga-saṃjñitam + saḥ + niścayena + yoktavyaḥ + yogaḥ + anirviṇṇa-cetasā

Sanskrit, in depth

The words

देवनागरीWordGrammarSense
तम्tamaccusative singularthat. The state just described.
विद्यात्vidyātoptative, 3rd singularone should know.
दुःख-संयोग-वियोगम्duḥkha-saṃyoga-viyogamaccusative singularthe unjoining from the joining with pain.
योग-संज्ञितम्yoga-saṃjñitamaccusative singularcalled by the name yoga.
सःsaḥnominative singularthat.
निश्चयेनniścayenainstrumental singularwith resolve.
योक्तव्यःyoktavyaḥgerundive, nominativeto be yoked, ought to be practiced.
योगःyogaḥnominative singularyoga.
अनिर्विण्ण-चेतसाanirviṇṇa-cetasāinstrumental singularwith a mind that is not wearied.

The phrases

tam vidyāt (तम् विद्यात्) is "one should know that." The "that" is everything the yatra (यत्र) and yam (यम्) clauses have been pointing at. duḥkhasaṃyogaviyogam (दुःखसंयोगवियोगम्) says what it is: not joined to pain. yogasaṃjñitam (योगसंज्ञितम्) says the name.

saḥ yogaḥ yoktavyaḥ (सः योगः योक्तव्यः) turns from the definition to the work. That yoga is to be practiced. niścayena (निश्चयेन) and anirviṇṇacetasā (अनिर्विण्णचेतसा) say how: with resolve, and with a mind that does not grow weary.

vidyāt duḥkha (विद्यात् दुःख) is vidyād duḥkha (विद्याद् दुःख). yoktavyaḥ yogaḥ (योक्तव्यः योगः) is yoktavyo yogaḥ (योक्तव्यो योगः). yogaḥ anirviṇṇa (योगः अनिर्विण्ण) is yogo 'nirviṇṇa (योगोऽनिर्विण्ण).

Sanskrit in this line

yoktavyaḥ (योक्तव्यः) is a gerundive, the verbal adjective in --tavya (तव्य). It means "to be done," and with a nominative subject it means "ought to be done." yogaḥ yoktavyaḥ (योगः योक्तव्यः) is "yoga is to be yoked." The doer, when you need him, would be instrumental. Here the instrumentals are manner: niścayena (निश्चयेन), anirviṇṇacetasā (अनिर्विण्णचेतसा). saṃyoga (संयोग) is joining. viyoga (वियोग) is the undoing of a joining. The compound is the undoing of the joining with pain.

Say it back

The name, and the mind it is practiced with. If anirviṇṇa (अनिर्विण्ण) loses the negative, the mind is weary, and the command has failed.