Bhagavad Gita Verse 2.53

भाँति-भाँति के वचनों को सुनने से विचलित हुई तेरी बुद्धि जब परमात्मा में अचल और स्थिर ठहर जाएगी, तब तू योग को प्राप्त हो जाएगा अर्थात तेरा परमात्मा से नित्य संयोग हो जाएगा|

Your intellect, O ARJUNA, will then allow you to distinguish between the real and the unreal in life. You will no longer have conflicts about opinions of life’s many aspects and characteristics. You will know what is of importance and of no importance. Finally, you will reach the state where you will have achieved KARMYOGA, a state of long-lasting peace and happiness.