Bhagavad Gita 6.23

तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम्।स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा॥

taṃ vidyād duḥkhasaṃyogaviyogaṃ yogasaṃjñitam |sa niścayena yoktavyo yogo'nirviṇṇacetasā ||

Let this be known by the name of Yoga, the severance from union with pain. This Yoga should be practiced with determination and with an undespairing mind.

This inner severance from the affliction of misery is spirituality. It should be practiced with determination and with a heart that refuses to be depressed.

Our plain-language meaning of this verse is waiting for scholar review.