BhG 6.36

syntax

asaṁyatātmanā (by one whose self is not restrained) yogaḥ (yoga) duṣprāpaḥ [asti] (is difficult to obtain) iti me (it is my) matiḥ (opinion),
vaśyātmanā tu (but by one whose self is under control) yatatā (by one endeavouring) upāyataḥ (through a means) avāptum (to obtain) śakyaḥ (it is possible).

grammar

asaṁyatātmanā	–	a-saṁyata-ātman 3n.1 m.; BV: yasyātmā saṁyato nāsti tena – by one whose self is not restrained (from: sam-√yam – to hold together, to restrain, PP saṁyata – restrained, controlled; ātman – self);
yogaḥ	–	yoga 1n.1 m. – yoga, yoking, application, a means, one of the schools of Hindu philosophy (from:√yuj – to yoke, to join, to engage);
duṣprāpaḥ	–	duṣprāpa 1n.1 m. – difficult to obtain (from: dur / dus – prefix: difficult, bad, hard; pra-√āp – to obtain, to reach, prāpa – obtainment);
iti	–	av. – thus (used to close the quotation);
me	–	asmat sn. 6n.1 – my (shortened form of: mama);
matiḥ	–	mati 1n.1 f. – thought, opinion, view (from: √man – to think);
vaśyātmanā	–	vaśya-ātman 3n.1 m.; BV: yasyātmā vaśyo ‘sti tena – by one whose self is under control (from: √vaś – to desire, to subjugate, to command, PF vaśya – to be subjugated; subject to, under control, tamed; ātman – self);
tu	–	av. – but, then, or, and;
yatatā	–	yatant (√yat – to endeavour) PPr 3n.1 m. – by one endeavouring, by one striving;
śakyaḥ	–	śakya (√śak – to be able to) PF 1n.1 m. – it is possible;
avāptum	–	ava-√āp (to obtain, to reach) inf. – to obtain, to reach;
upāyataḥ	–	av. – through a means (from: upa-ā-√i – to approach, upāya – a means, way, remedy; indeclinable ablative with an ending: -tas);

textual variants

asaṃyatātmanā → asaṃyatātmanaḥ / asaṃśayātmanā (of one whose self is not restrained / by one whose self has no doubts);

Śāṃkara

yaḥ punar asaṃyatātmā, tena—

asaṃyatātmanābhyāsa-vairāgyābhyām asaṃyataḥ ātmāntaḥ-karaṇaṃ yasya so’yam asaṃyatātmā tenāsaṃyatātmanā yogo duṣprāpo duḥkhena prāpyateti me matiḥ | yas tu punar vaśyātmābhyāsa-vairāgyābhyāṃ vaśyatvam āpāditaḥ ātmā mano yasya so’yaṃ vaśyātmā tena vaśyātmanā tu yatatā bhūyo’pi prayatnaṃ kurvatā śakyo’vāptuṃ yogar upāyato yathoktād upāyāt

Rāmānuja

calasvabhāvatayā mano durnigraham evety atra na saṃśayaḥ; tathā +apy ātmano guṇākaratvābhyāsajanitābhimukhyena ātmavyatirikteṣu doṣākaratvajanitavaitṛṣṇyena ca kathaṃcid gṛhyate; asaṃyatātmanā ajitamanasā mahatāpi balena yogo duṣprāpa ea / upāyatas tu vaśyātmanā pūrvoktena madārādhanarūpeṇāntargatajñānena karmaṇā jitamanasā yatamānenāyam eva samadarśanarūpo yogo ‚vāptuṃ śakyaḥ

Śrīdhara

etāvāṃs tv iha niścaya ity āha asaṃyateti | ukta-prakāreṇābhyāsa-vairāgyābhyām asaṃyata ātmā cittaṃ yasya tena yogo duṣprāpa prāptum aśakyaḥ | abhyāsa-vairāgyābhyāṃ vaśyo vaśavartī ātmā cittaṃ yasya tena puruṣeṇa punaś cānenaivopāyena prayatnaṃ kurvatā yogaḥ prāptuṃ śakyaḥ

Madhusūdana

yat tu tvam avocaḥ prārabdha-bhogena karmaṇā tattva-jñānād api prabalena sva-phala-dānāya manaso vṛttiṣūtpādyamānāsu kathaṃ tāsāṃ nirodhaḥ kartuṃ śakyaṃ iti tatrocyate asaṃśayātmaneti |

tathā cāha bhagavān vasiṣṭhaḥ –

sarvam eveha hi sadā saṃsāre raghunandana |
samyak prayuktāt sarveṇa pauruṣāt samavāpyate ||
ucchāstraṃ śāstritaṃ ceti pauruṣaṃ dvividhaṃ smṛtam |
tatrocchāstram anarthāya paramārthāya śāstritam ||

ucchāstraṃ śāstra-pratiṣiddham anarthāya narakāya | śāstritaṃ śāstra-vihitam antaḥ-karaṇa-śuddhi-dvārā paramārthāya caturṣv artheṣu paramāya mokṣāya |

śubhāśubhābhyāṃ mārgābhyāṃ vahantī vāsanā sarit |
pauruṣeṇa prayatnena yojanīyā śubhe pathi ||
aśubheṣu samāviṣṭaṃ śubheṣv evāvatāraya |
sva-manaḥ puruṣārthena balena balināṃ vara ||
drāg-abhyāsa-vaśād yāti yadā te vāsanodayam |
tadābhyāsasya sāphalyaṃ viddhi tvam ari-mardana ||

vāsanā śubhedti śeṣaḥ |

sandigdhāyām api bhṛśaṃ śubhām eva samāhara |
śubhāyāṃ vāsanā-vṛddhau tāta doṣo na kaścana ||
avyutpanna-manā yāvad bhavān ajñāta-tatpadaḥ |
guru-śāstra-pramāṇais tvaṃ nirṇītaṃ tāvad ācara ||
tataḥ pakva-kaṣāyeṇa nūnaṃ vijñāta-vastunā |
śubho ‚py asau tvayā tyājyo vāsanaugho nirodhinā || iti |

tasmāt sākṣi-gatasya saṃsārasyāviveka-nibandhanasya viveka-sākṣātkārād apanaye ‚pi prārabdha-karma-paryavasthāpitasya cittasya svābhāvikīnām api vṛttīnāṃ yogābhyāsa-prayatnenāpanaye sati jīvanmuktaḥ paramo yogī | citta-vṛtti-nirodhābhāve tu tattva-jñānavān apy aparamo yogīti siddham | avaśiṣṭaṃ jīvanmukti-viveke sa-vistaram anusandheyam

Viśvanātha

atrāyaṃ parāmarśa ity ata āha saṃyatātmanābhyāsa-vairāgyābhyāṃ na saṃyataṃ mano yasya tena | tābhyāṃ tu vaśyātmanā vaśībhūta-manasāpi puṃsā yatatā ciraṃ yatnavataiva yogo mano-nirodha-lakṣaṇaḥ samādhir upāyataḥ sādhana-bhūyastvāt prāptuṃ śakyaḥ

Baladeva

asaṃyateti | uktābhyām abhyāsa-vairāgyābhyāṃ na saṃyata ātmā mano yasya tena vijñenāpi puṃsā citta-vṛtti-nirodha-lakṣaṇo yogo duṣprāpaḥ prāptum aśakyaḥ | tābhyāṃ vaśyo ‚dhīna ātmā mano yasya tena puṃsā, tathāpi yatatā tādṛśa-prayatnavatā sa yogaḥ prāptuṃ śakyaḥ | upāyato mad-ārādhana-lakṣaṇāj jñānākārān niṣkāma-karma-yogāc ceti me matiḥ