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Yogi, Yoga practice, Atman-Brahman union
Bhagavad Gita 5: This is what a Yogi is like, controlled thought, trying to unite with Atman.
The Yogi according to Bhagavad Gita (Yoga Philosophy).
In the Bhagavad Gita the word «Yogi» appears many times. The two verses shown as examples contain definitions of Yogi.
In Chapter 5 The Yoga of Renunciation of Action, Sri Krishna tells Arjuna:
«He who finds happiness only within himself, who rests only within himself, whose light is only internal, that yogi, having become one with nature, attains unity with, Brahman» Bhagavad Gita 5-24.
That is to say, the Yogi only finds happiness (Ananda) in Atman, within himself. Only within him does he achieve peace. Only then can you feel “one with nature.” This verse shows us the path to liberation: The union of Atman with the Absolute
In chapter 6- The Yoga of Meditation, Sri Krishna tells Arjuna:
«Like the flame of a candle that does not flutter in a windless place, so is a yogi, with his thought controlled, trying to unite with Atman. Where thought, checked by the practice of yoga, ceases completely, where a man feels content within himself, is Atman contemplating Atman» Bhagavad Gita 6 19-20.
And you, are you capable of being like the flame of a candle that does not flutter in a place without wind? Can you control your thoughts? Have you managed to unite with Atman?
In Chapter 4 - The Yoga of Knowledge and Renunciation of Action, Sri Krishna tells Arjuna:
Yogui Bhagavad Gita 
Iogue Bagavadeguitá.
If one reflects on these shlokas, we can deduce that the ultimate goal of the yogi should not be to “practice (physical) yoga or asanas”, but rather it should be to realize union with Atman and attain unity with the Absolute Reality, be it Brahman, Jesus, Buddha or Ala.
The “practice of yoga” will help you achieve this, but in no case should it be the final goal of the yogi, but this practice is only a means that will help you unite with God, the true and transcendental goal of Yoga (union).
Any of the four Paths of Yoga defined in the Bhagavad Gita (Karma Yoga, Jnana Yoga, Bhakti Yoga, Dhyana Yoga / Raja Yoga) that the yogi follows, all valid, should lead this union.
That is, “physical” yoga is a means to achieve the true “spiritual yoga” defined in the Bhagavad Gita, as we see in verse 15 of Chapter 5 The Yoga of Knowledge, Action and Renunciation, Krishna he tells Arjuna.
The rest of this summary is only available to students of the Gita Institute
What is Yoga according to the Bhagavad Gita?
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