A yogi who is detached and who has control over his body and mind should remain in a secluded place and concentrate on the self.
The yogi should remain in a clean place, on a seat that is neither too high nor too low, that is covered with kusa grass, a deer skin and a cloth. His mind focused and all the activities of his senses controlled he should sit on this seat and engage in yoga for the sake of self-purification.
The yogi should hold his head and neck erect and sit motionless, and concentrate on the tip of his nose.
The yogi should observe a vow of chastity.
Such a self-disciplined yogi, who, in all devotion, holds the Supreme Parabrahman as the highest object will attain Supreme peace which is beyond all material existence.
Yoga is the state, where all sorrow arising due to material contact dissolves, where the mind of the self controlled person comes to a halt. In such a state he sees the Self by the Self and is self satisfied and comes to know the immeasurable joy that is beyond the comprehension of the senses - which can be understood only by the pure intelligence of the soul - in which once established he never wavers from the truth, a state in which nothing can perturb him.
To attain such a state, a person should practice yoga with determination, his mind always confident of the success of his endeavors.
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