आरुरुक्षोर्मुनेर्योगं कर्म कारणमुच्यते।
योगारूढस्य तस्यैव शमः कारणमुच्यते।।6.3।।
।।6.3।।जो योग(समता)में आरूढ़ होना चाहता है ऐसे मननशील योगीके लिये कर्तव्यकर्म करना कारण है और उसी योगारूढ़ मनुष्यका शम (शान्ति) परमात्मप्राप्तिमें कारण है।
6.3 Aruruksoh, for one who wishes to ascend, who has not ascended, i.e. for that very person who is unable to remain established in Dhyana-yoga;-for which person who is desirous to ascend?-munch, for the sage, i.e. for one who has renounced the results of actions;-trying to ascend to what?-yogam, to (Dhyana-) yoga; karma, action; ucyate, is said to be; the karanam, means. Tasya, for that person, again; yoga-arudhasya, when he has ascended to (Dhyana-) yoga; samah, inaction, withdrawl from all actions; eva, alone; ucyate, is said to be; karanam, the means for remaining poised in the state of meditation. This is the meaning. To the extent that one withdraws from actions, the mind of that man who is at cease and self-controlled becomes concentrated. When this occurs, he at once becomes established in Yoga. And accordingly has it been said by Vyasa: For a Brahmana there is no wealth conparable to (the knowledge of) oneness, sameness, truthfulness, character, eipoise, harmlessness, straightforwardness and withdrawal from various actions (Mbh. Sa. 175.37). After that, now is being stated when one becomes established in Yoga:
6.3 Aruruksoh etc for a sage : For a man of wisdom. Action : that which reires to be performed. Cause (1st) : a means to attain. Quietude : to remain uninterrupted at the stage [already] achieved. Here Cause (2nd) is an indicator. The same idea is made clear as-
6.3 Karma Yoga is said to be the means for an aspirant for release who seeks to climb the heights of Yoga, i.e., the vision of the self. For the same person, when he has climbed the heights of Yoga, i.e., when he is established in Yoga - tranility, i.e., freedom from actions is said to be the means. A man should perform actions until he has attained release (Moksa) in the form of the vision of the self. Full release comes only with the fall of the body. The vision of the self referred to here is called Moksa by courtesy. When does not become established in Yoga? Sri Krsna replies:
Aarurukshormuneryogam karma kaaranamuchyate; Yogaaroodhasya tasyaiva shamah kaaranamuchyate.
ārurukṣhoḥ—a beginner; muneḥ—of a sage; yogam—Yog; karma—working without attachment; kāraṇam—the cause; uchyate—is said; yoga ārūḍhasya—of those who are elevated in Yog; tasya—their; eva—certainly; śhamaḥ—meditation; kāraṇam—the cause; uchyate—is said
