Chapter VI-1. The Bless Lord said: Without depending on the fruits of actions, who does his duty, that one is a Renunciate and a Yogi not the person who is without fire and action.
In India, one of the characteristics of a home is the cooking fire, in a devout home the worship at the sacred fire and acting as prescribed by life's situations is also required. Often people think that they will become a Renunciate just by leaving these. However, Yoga and the spiritual life do not require leaving home and family and isolating onself from work in the world. Renunciating is defined by the manner in which we do things. I know many monks who have more responsibilities and people under their care than most family people, yet if God calls they could pick up and leave and it wouldn't affect them in any way.

Chapter VI-2. Arjuna, You must know that Yoga to be that which they call renunciation. No one becomes a Yogi who has not renounced Sankalpas (thoughts with expectations).
Sankalpas are thoughts and planning for the future that include a desired outcome in them. For example, a doctor gives medical care to the sick with full compassion and using all available knowledge. If as he does this, he is thinking about what a great doctor he is and how many people he has cured or how much money he will make, this is Sankalpa. If as he works he prays to be God's hands and knows that he has no power over the outcome, that his is just to do well, it is not a Sankalpa, but instead Karma Yoga. It is the thought that creates bondage or freedom.

Chapter VI-3. For a sage aspiring to Yoga, action is the means; for one established in Yoga, calmness (quiescence) is the means.
By doing the activity (work, family, school, organizations, causes) that presents itself to us as a duty without detachment and dispassion, we clean off the egoistic film as so can recognize the unity of all in the Absolute. We climb the rungs of the ladder to the pinnacle of Yoga (recognition of the unity of all in Brahman). Our aspirations to eternal peace and bliss can be achieved by seeking all that we do as an offering through the practice of remembering God always. Actions are the purifier in preparation for Yoga. When we follow ethical and moral precepts, cling to the Truth, do this Yagna (sacrifice, worship) of constant "practice of the presence of God", we get to the doorway of Yoga (the experience of unity with That Unnamable). From there, God will lead us through, coming directly through intuition or through the help of a Guru or teacher. We are given the promise that this unity is achievable. Once established in Yoga there is nothing to do, for there is no more duality. It is the same as when a fast running river loses itself when it becomes the calm lake.

Chapter VI-4. When one is not attached to sense-objects or actions, having renounced all thought of desire, he is said to be established in Yoga.
When we watch the mind carefully we learn the type of thoughts some are based on sense objects. We want fine food, soft bedding, lovely music, sweet smelling flowers and lotions. Other objects are connected with the eyes always looking to see what is happening and making stories in our minds about what we see. If we miss a dinner, a planned musical event, or small a bad odour, we become agitated, upset and possibly angry.
We also are attached to actions wanting to go, do, experience. The planning and pipe dreaming keeps pushing/pulling us outside of ourselves. The thoughts are what keep the mind unsteady, wondering if we will attain what we want or congratulating ourselves on what we have done. These thoughts create attachment. When we see a thought pop up in the mind, we need to follow it to the root. Often it will create more desire and more sense of "I" the doer. If so, let it go and replace it with a thought of God, inner bliss or peace a calm ocean that will center us in our Selves. If however, the thought moves us to serve, love, give then act upon it as an offering to the supreme. The thought that creates desire-motivated action or is puffing up the "I" sense must be renounced. The desires and actions caused by it then evaporate.

Chapter VI-8 To the Yogi who is satisfied with knowledge (from study) and wisdom (self-knowledge), unmovable, having conquered the senses and is said to be "harmonized" (self-realized), a clod of earth, a piece of stone and gold are the same.
The goal of these Gita Yoga practices is reiterated here. It is the satisfaction that comes from the recognition of our completeness and inner peace the senses no longer pull us this way and that. All of god's material creation is recognized as equal parts of the Divine manifestation.

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