The steady-minded person (sthita-prajna) who is able to say truthfully, 'I do nothing at all, only my senses are busy', must be a very rare phenomenon. To dispel Arjuna's fear that he is not the candidate for such high-class spiritual achievement, Krishna provides the key shloka 40 of Canto VI. What matters in Yoga, he says, is not success but sincere effort.'The struggle for virtue (kalyan) is never wasted.'
Peace of mind is not a goal but a process. Krishna goes into some detail on the nature of this process, especially the signs by which it can be recognised. To begin with, the aspirants must discipline desire, he must learn to respect his atman by using it to control his animal impulses; he must discover the pleasures of solitude and solitariness; he must perform daily whatever physical yoga is required to discipline his body; he must practise the principle of golden mean in every activity; he must look on delight and suffering everywhere as his own.
Such effort and empathy characterise the true Yogi, who is superior to the penance-doers, the learned in theoretical knowledge, and the busily active. Such a person, explains Krishna, may not attain the supreme bliss (sukhamuttamam), but 'he is never far from me, and I am never far from him'.
The supreme bliss is not a product of determined seeking after it, but a possible by-product of honest yogic effort to improve the quality of one's humanity.