The Yoga of Practice — Abhyasa Yoga

Chapter 6 of Bhagavad Gita by Vyasa

Krishna said: He that acts as he should and takes for act No fruit thereof—he is the Recluse, he Is the true Yogin; not the man who lights No flame and makes no offering. What they call Renouncement, Prince! is Yoga: he achieves No Yoga who doth not renounce the will.

For him who would mount to the heights of Yoga, Action is the way; for him who hath mounted, Calm is the way. When a man is not attached To sense-objects or to works, renouncing all Will of desire, he is on that height named Yokeful—yoked with the Supreme.

Let each man raise the Self by his own Self, Nor let the Self decline! Self is the friend Of Self for him who masters Self by Self; But Self is the foe of that self which is Not mastered. The soul of him who rules himself Is calm, in cold and heat, in pain and joy, In honour and dishonour poised the same, Uplifted and at peace. With knowledge full, With mastery of the senses, on the peak Of meditation he abides, the Yogin; To him a clod, a stone, a piece of gold Are one and all the same.