Meditation and Inner Discipline
Chapter 6's concrete meditation technique, Arjuna's objection that a restless mind makes it unreachable, and Krishna's answer that no sincere effort toward it is ever wasted.
BG 6.11
In a pure place, established on a fixed seat of his own, neither very much raised nor very low, made of a cloth, a black antelope skin, and kusha grass, one over the other;
BG 6.13
Holding the body, head and neck erect, immovably steady, looking fixedly at the point of the nose, with unseeing gaze,
BG 6.19
As a lamp in a windless place flickereth not, to such is likened the Yogi of subdued thought, absorbed in the yoga of the Self.
BG 6.35
Without doubt, O mighty-armed, the mind is hard to curb and restless; but it may be curbed by constant practice and by dispassion.
BG 6.45
But the Yogi, labouring with assiduity, purified from sin, fully perfected through manifold births, he reacheth the supreme goal.