BG 6.21

...when one knows that infinite happiness can be grasped by the intellect but is beyond the reach of the senses, one never strays from reality again.

सुखमात्यन्तिकं यत्तद्बुद्धिग्राह्यमतीन्द्रियम्
वेत्ति यत्र न चैवायं स्थितश्चलति तत्त्वतः

Meditation is not for one who eats too much, or does not eat at all. It is not for those who sleep too much, or stay awake too long.

[16]

For those who regulate their food and recreation, who are temperate in their sleep and wakefulness, Yoga is the destroyer of unhappiness.

[17]

When the mind is subdued and remains centered in the self, one attains freedom from cravings and desire.

[18]

The yogi who has disciplined the mind and meditates diligently on the self is like a lamp in a windless place that does not flicker.

[19]

When the mind, restrained through practice, becomes still, and when one finds satisfication in the inner self,

[20]

when one knows that infinite happiness can be grasped by the intellect but is beyond the reach of the senses, one never strays from reality again.

[21]

Having gained it, one realizes that there is nothing greater to gain. Once established in it, no calamity can disturb them.

[22]

Summary