BhG 6.11-12

syntax

[yogī] (a yogī) śucau deśe (in a clean place) nāty-ucchritam (not too raised) nāti-nīcam (not too low) cailājina-kuśottaram (which on top of the kuśa grass has cloth and skin) ātmanaḥ (own) sthiram (steady) āsanam (seat) pratiṣṭhāpya (after establishing),
tatra (there) āsane (on a seat) upaviśya (after sitting down),
manaḥ (the mind) ekāgram (one-pointed) kṛtvā (after doing),
yata-cittendriya-kriyaḥ (whose activities of mind and senses are restrained) ātma-śuddhaye (for purification of the self) yogam (yoga) yuñjyāt (he should engage).

grammar

śucau	–	śuci 7n.1 m. – in clean (from: √śuc – to shine, to be wet);
deśe	–	deśa 7n.1 m. – in a place, in a country (from: √diś – to show);
pratiṣṭhāpya	–	prati-√sthā (to stand firmly) absol. – after etablishing;
sthiram	–	sthira 2n.1 n. – firm, hard, solid (from: √sthā – to stand);
āsanam	–	āsana 2n.1 n. – a seat (from: √ās – to sit, to exist);
ātmanaḥ	–	ātman 6n.1 m. – of the self;
nātyucchritam	–	na-aty-ucchrita 2n.1 n. – not too much raised (from: ati – prefix: excessively, na-ati – in compounds: not too  much; ut- – prefix: up; √śri – to lean on, to rest on, PP śrita – resorted to, attached to; uc-chrita – raised, increased);
nātinīcam	–	na-ati-nīca 2n.1 n. – not very low (from: ati – prefix: excessively, na-ati – in compounds: not too  much; ni – prefix: w dół, ku tyłowi, √añc – to bend, nīca – low, deep);
cailājina-kuśottaram	–	caila-ajina-kuśa-uttara 2n.1 n.; DV/BV: yasmin kuśebhya uttare cailaṁ ca ajinaṁ ca staḥ saḥ – which on top of the kuśa grass has cloth and skin (from: cela – cloth, garment, caila – made of cloth; ajina – skin of an antelope; kuśa – grass Poa cynosuroides; uttara – higher, north, better, comparative of: ud – upwards, above);

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tatra	–	av. – there (from: tat; indeclinable locative with an ending -tra);
ekāgram	–	eka-agra 2n.1 n. – having one goal, being one-pointed (from: eka – one; agra – foremost, first, summit, goal);
manaḥ	–	manas 2n.1 n. – the mind (from: √man – to think);
kṛtvā	–	√kṛ (to do) absol. – after doing;
yata-cittendriya-kriyaḥ	–	yata-citta-indriya-kriya 1n.1 m.; DV/BV: yasya cittasya ca indriyāṇāṁ ca kriyā yatāḥ santi saḥ – whose activities of mind and senses are restrained (from: √yam – to hold back, to restrain, PP yata – held back, restrained; √cit – to perceive, to think, PP citta – thought; a thought, mind, heart, consciousness; √ind – to be powerful, indriya – the senses; √kṛ – to do, kriyā – act, work, especially religious one);
upaviśya	–	upa-√viś (to sit down, to enter) absol. – after sitting down;
āsane	–	āsana 7n.1 n. – on na seat (from: √ās – to sit, to exist);
yuñjyāt	–	√yuj (to yoke, to join, to engage) Pot. P 1v.1 – he should engage;
yogam	–	yoga 2n.1 m. – yoga, yoking, application, a means, one of the schools of Hindu philosophy (from: √yuj – to yoke, to join, to engage);
ātma-viśuddhaye	–	ātma-viśuddhi 4n.1 f.; TP: ātmno viśuddhaya iti – for purification of the self (from: ātman – self; vi-√śudh – to become pure, viśuddhi – purification, sanctifying);

warianty tekstu

sthiram āsanam → sthira-mānasa (whose activities of mind are steady);
nāty-ucchritaṁ → nāty-ucchrite (on not too raised);
cailājina-kuśottaram → celājina-kuśottaram (which on top of the grass has cloth and skin);
yata-cittendriya-kriyaḥ → yata-citteṁdriyaḥ kriyaḥ / yata-cittendriya-kriyāḥ / jita-citteṁdriya-kriyaḥ (whose activities of mind and senses are restrained / whose activities of mind and senses are conquered);
yuñjyāt → yujyāt (he should engage);

Śāṃkara

athedānīṃ yogaṃ yuñjataḥ āsanāhāra-vihārādīnāṃ yoga-sādhanatvena niyamo vaktavyaḥ, prāpta-yogasya lakṣaṇaṃ tat-phalādi ca, ity ata ārabhyate | tatrāsanam eva tāvat prathamam ucyate—

śucau śuddhe vivikte svabhāvataḥ saṃskārato vā, deśe sthāne pratiṣṭhāpya sthiram acalam ātmana āsanaṃ nātyucchritaṃ nātīva ucchritaṃ nāpy atinīcam, tac ca cailājina-kuśottaraṃ cailam ajinaṃ kuśāś cottare yasminn āsane tad āsanaṃ cailājina-kuśottaram | pāṭha-kramād viparīto’tra kramaś cailādīnām

pratiṣṭhāpya, kiṃ ?

tatra tasminn āsana upaviśya yogaṃ yuñjyāt | kathaṃ ? sarva-viṣayebhya upasaṃhṛtya ekāgraṃ manaḥ kṛtvā yata-cittendriya-kriyaś cittaṃ cendriyāṇi ca cittendriyāṇi teṣāṃ kriyāḥ saṃyatā yasya sa yata-cittendriya-kriyaḥ | sa kim-arthaṃ yogaṃ yuñjyād ity āha—ātma-viśuddhaye’ntaḥ-karaṇasya viśuddhy-artham ity etat

Rāmānuja

śucau deśe aśucibhiḥ puruṣair anadhiṣṭhite aparigṛhīte ca aśucibhir vastubhir aspṛṣṭe ca pavitrabhūte deśe, dārvādinirmitaṃ nātyucchritaṃ nātinīcaṃ celājinakuśottaraṃ āsanaṃ pratiṣṭhāpya tasmin manaḥprasādakare sāpāśraye upaviśya yogaikāgraṃ manaḥ kṛtvā yatacittendriyakriyaḥ sarvātmanopasaṃhṛtacittendriyakriyaḥ ātmaviśuddhaye bandhanivṛttaye yogaṃ yuñjyād atmāvalokanaṃ kurvīta

Śrīdhara

āsana-niyamaṃ darśayann āha śucāv iti dvābhyām | śuddhe sthāne ātmanaḥ svasya āsanaṃ sthāpayitvā | kīdṛśam? sthiram acalam | nātyucchritaṃ nātīvonnatam | na cātinīcam | celaṃ vastram | ajinaṃ vyāghrādi-carma | celājine kuśebhya uttare yasya | kuśānām upari carma tad upari vastram āstīryetety arthaḥ |

tatreti | tatra tasminn āsana upaviśyaikāgraṃ vikṣepa-rahitaṃ manaḥ kṛtvā yogaṃ yuñjyād abhyaset | yatāḥ saṃyatāś cittasyendriyāṇāṃ ca kriyā yasya saḥ | ātmano manaso viśuddhaya upaśāntaye

Madhusūdana

tatrāsana-niyamaṃ darśayann āha śucau deśa iti dvābhyām | śucau svabhāvataḥ saṃskārato vā śuddhe jana-samudāya-rahite nirbhaye gaṅgā-taṭa-guhādau deśe sthāne pratiṣṭhāpya sthiram niścalam nātyucchritaṃ nātyuccaṃ nāpy atinīcam cailājina-kuśottaraṃ cailaṃ mṛdu-vastram ajinaṃ mṛdu-vyāghrādi-carma te kuśebhya uttare uparitane yasmiṃs tat | āsyate ‚sminn ity āsanaṃ kuśamaya-vṛṣy-upari mṛdu-carma tad-upari mṛdu-vastra-rūpam ity arthaḥ | tathā cāha bhagavān patañjaliḥ sthira-sukham āsanam iti | ātmana iti parāsana-vyāvṛtty-arthaṃ tasyāpi parecchā-niyamābhāvena yoga-vikṣepa-paratvāt |

evam āsanaṃ pratiṣṭhāpya kim kuryād iti tatrāha tatraikāgram iti | tatra tasminn āsana upaviśyaiva na tu śayānas tiṣṭhan vā | āsīnaḥ sambhavāt iti nyāyena | yatāḥ saṃyatā uparatāś cittasyendriyāṇāṃ ca kriyā vṛttayo yena sa yata-cittendriya-kriyaḥ san yogaṃ samādhiṃ yuñjītābhyaset | kim-artham ? ātma-viśuddhaya ātmano ‚ntaḥ-karaṇasya sarva-vikṣepa-śūnyatvenātisūkṣmatayā brahma-sākṣātkāra-yogyatāyai | dṛśyate tv agryayā buddhyā sūkṣmayā sūkṣma-darśibhiḥ [KaṭhU 1.3.12] iti śruteḥ |

kiṃ kṛtvā yogam abhyased iti tatrāha ekāgraṃ rājasatāmasa-vyutthānākhya-prāg-ukta-bhūmi-traya-parityāgenaika-viṣayaka-dhārāvāhikāneka-vṛtti-yuktam udrikta-sattvaṃ manaḥ kṛtvā dṛḍha-bhūmikena prayatnena sampādyaikāgratā-vivṛddhy-arthaṃ yogaṃ samprajñāta-samādhim abhyaset | sa ca brahmākāra-mano-vṛtti-pravāha eva nididhyāsanākhyaḥ | tad uktam –

brahmākāra-mano-vṛtti-pravāho ‚haṅkṛtiṃ vinā |
saṃprajñāta-samādhiḥ syād dhyānābhyāsa-prakarṣataḥ || iti |

etad evābhipretya dhyānābhyāsa-prakarṣaṃ vidadhe bhagavān – yogī yuñjīta satataṃ [Gītā 6.10] yuñjyād yogam ātma-viśuddhaye [Gītā 6.12] | yukta āsīta mat-para [Gītā 6.14]ity ādi bahu-kṛtvaḥ

Viśvanātha

pratiṣṭhāpya stthāpayitvā | celājina-kuśottaram iti kuśāsanopari mṛga-carmāsanam | tad upari vastrāsanaṃ nidhāyety arthaḥ | ātmano ‚ntaḥ-karaṇasya viśuddhatve vikṣepa-śūnyatvenātisūkṣmatayā brahma-sākṣātkāra-yogyatāyai dṛśyate tv agryayā buddhyā [KaṭhU 1.3.12] iti śruteḥ

Baladeva

āsanam āha śucāv iti dvābhyām | śucau svataḥ saṃskārataś ca śuddhe gaṅgā-taṭa-giri-guhādau deśe sthiraṃ niścalam | nātyucchritaṃ nātyuccam | nātinīcam dārvādi-nirmitam āsanaṃ pratiṣṭhāpya saṃsthāpya | cailājine kuśebhya uttare yatra tat | cailaṃ mṛdu-vastram | ajinaṃ mṛdu-mṛgādi-carma | kuśopari vastram āstīryetety arthaḥ | ātmana iti parāsanasya vyāvṛttaye parecchāyau aniyatatvena tasya yoga-pratikūlatvāt | tatreti tasmin pratiṣṭhāpite āsane upaviśya, na tu tiṣṭhan śayāno vety arthaḥ | evam āha sūtrakāraḥ — āsīnaḥ sambhavāt [Vs 4.1.7] iti | yatā niruddhāś cittādi-kriyā yasya saḥ mana ekāgram avyākulaṃ kṛtvā yogaṃ yuñjīta samādhim abhyaset | ātmano ‚ntaḥkaraṇasya viśuddhaye atinairmalyena saukṣmyeṇātma-darśana-yogyatāyai dṛśyate tv agryayā buddhyā sūkṣmayā sūkṣma-darśibhiḥ [KaṭhU 1.3.12] iti śravaṇāt