Perfect yoga is not mind control but constant consciousness of Krishna through devotional service.Listen — Srila Prabhupada Uvaca
Prabhupāda: ātmaupamyena sarvatra samaṃ paśyati yo 'rjuna... [aside:] Please come forward. sukhaṃ vā yadi vā duḥkhaṃ sa yogī paramo mataḥ [Bg 6.32] [He is a perfect yogī who, by comparison to his own self, sees the true equality of all beings, both in their happiness and distress, O Arjuna!] Now, we have been discussing for the last few days about the perfect form of yoga. Lord Kṛṣṇa, the Supreme Personality of Godhead, He is teaching Arjuna directly the perfect form of yoga. If you actually want to perform the yoga system, then here is authoritative statement by the Supreme Personality of Godhead. So we have discussed in detail.
Now, after hearing the system, Arjuna is replying. Just mind that it is..., the whole thing was being described in the battlefield. In the battlefield. This whole Bhagavad-gītā was taught to Arjuna in the battlefield.
And when..., when Arjuna was just going to release his arms on the opposite party, on the enemy's party, he thought... He got a sentiment: "So why this fighting with my own kinsmen?" That was his illusion. And to eradicate that illusion of Arjuna's, this Bhagavad-gītā was explained by Lord Kṛṣṇa. Now, you can understand how much time could be, I mean to, allowed for this discussion. That was a battlefield.
Immediately has to be fight. Everyone is ready. So... And utmost, one hour.
I don't think... That is utmost. So within this one hour the whole Bhagavad-gītā was discussed, and Arjuna changed his decision and he fought. Now, within that time He is also instructing Arjuna about the yoga system. Now, after hearing the details of yoga system—how to sit down, how to keep the body straight, how to keep the eyes half-closed and how to see the uppermost part of the nose without diverting your attention, and in secluded place, in a sacred place, alone...
All this paraphernalia is described for performing perfect yoga system. Now, Arjuna, after hearing everything from Kṛṣṇa, he is replying. arjuna uvāca yo 'yaṃ yogas tvayā proktaḥ sāmyena madhusūdana etasyāhaṃ na paśyāmi cañcalatvāt sthitiṃ sthirām [Bg 6.33] [Arjuna said: O Madhusūdana, the system of yoga which you have summarized appears impractical and unendurable to me, for the mind is restless and unsteady.] Now, Arjuna said, "My dear Kṛṣṇa, the details which You have..., not very details, but a summary of yoga system which You have prescribed and You ask me to follow, I think it is very difficult for me on account of my agitated mind." Cañcalatvāt. Cañcalatvāt means agitated mind. We must always remember that we are in a circumstance, material circumstances, where every time, every moment, our mind is agitated.
We are not in a very comfortable situation. We are thinking that "This situation will save me for further anxieties of my mind," but when I reach to that point, I feel that the anxieties have increased. It has not decreased. Because the nature of the material world is like that.