As a lamp in a windless place does not waver, so the transcendentalist, whose mind is controlled, remains always steady in his meditation on the transcendent self. (Gita 6:19) Krishna is explaining here the true meaning of yoga. Yoga means that process, which brings our consciousness back to its original natural condition. At present our mind is diverted due the objects of the senses and the false ego from the true nature of our consciousness. Therefore, there is so much suffering in the world.
According to the Bhagavad Gita suffering is due to illusion. When the soul identifies itself with the temporary material body, which is subjected to innumerable pains, then the soul puts itself in a condition where invariably it must suffer. In fact greater than the pains of the body are the pains of the mind. Therefore Krishna gives us a simple and wonderful process by which we can purify our lives from all suffering forever, and that is by keeping our mind and our senses always engaged in His loving service. According to the Bhagavad Gita all that we eat, all that we do, all that we give away, everything should be done as an offering to God. This is the highest perfection of life and the supreme goal of yoga or religion.
By Radhanath Swami