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The aṣṭāṅga-yoga process is outlined very specifically in the sixth chapter of the Bhagavad-gītā (6.13–14):

samaṁ kāya-śiro-grīvam- dhārayann acalaṁ sthiraḥ samprekṣya nāsikāgraṁ svaṁ diśaś cānavalokayan

praśāntātmā vigata-bhīr brahmacāri-vrate sthitaḥ manaḥ saṁyamya mac-citto yukta āsīta mat-paraḥ

“One should hold one’s body, neck, and head erect in a straight line and stare steadily at the tip of …

One of the dangers of sitting in meditation and staring at the tip of one’s nose is that one will …

The yogi must also be “completely free from sex life.” If one indulges in sex, he cannot concentrate; therefore brahmacarya, …

Thus, refraining from sex enables one to be very determined and powerful. It is not necessary to do anything else. …

Kṛṣṇa does not recommend meditation on the void. He specifically states, “meditate upon Me.” The viṣṇu-mūrti is situated in one’s …

In this Kṛṣṇa consciousness movement we are meditating directly on Śrī Kṛṣṇa. This is a process of practical meditation. The …

yuñjann evaṁ sadātmānaṁ yogī niyata-mānasa h śāntiṁ nirvāṇa-paramāṁ mat-saṁsthām adhigacchati

“Thus practicing constant control of the body, mind, and activities, the mystic transcendentalist, his mind regulated, attains to the kingdom …

It is stated in Sanskrit in this verse, śāntiṁ nirvāṇa-paramām; that is, one attains peace through nirvāṇa-paramām, or the cessation …

We are always busy acquiring comforts for this body without considering that today, tomorrow, or in a hundred years this …

In order to attain peace, we must meditate on Kṛṣṇa, and by meditating on Kṛṣṇa, we can control the body. …

The ultimate goal of yoga is thus clearly explained. Yoga is not meant for attaining any kind of material facility; …

As long as we practice yoga in order to attain some material facility, there will be no question of peace. …

nāty-aśnatas tu yogo ’sti na caikāntam anaśnataḥ na cāti-svapna-śīlasya jāgrato naiva cārjuna

“There is no possibility of one’s becoming a yogi, O Arjuna, if one eats too much or eats too little, …

yuktāhāra-vihārasya yukta-ceṣṭasya karmasu yukta-svapnāvabodhasya yogo bhavati duḥkha-hā

“He who is regulated in his habits of eating, sleeping, recreation, and work can mitigate all material pains by practicing …