Bhagwad Gita
Srimad Bhagwad Gita is one of the spiritual book. It is related with Hindu religion. Important factor is the information what is written inside. On great archer, who have confidence on his bow art, even he is disappointed for his duty, depression, fear, stress, agony all at the same time in between battle field of Kurukshetra he was feeling and sitting on the feet of Bhagwan Shri Krishna, Shri Bhagwan gave speech to come out with this all negative mental condition and know the ´Truth of Duty´ ´Truth of Material´ .
This was not the problem about Arjun only, in fact,  many peoples have same problem now. Difference is Arjun was going to fight for the truth but now we fight for the problems created through material attachment even it gives us pain, we never tried to understand.
... Kashinath
Gita and Yoga
Srimad Bhagwad Gita is one of the best traditional source of Yoga. Yoga in SBG is not the same as in the other traditional sources (Pantanjal Yogsutra, Hatha Yoga Pradipika). Yoga in Bhagwad Gita introduce of the mental practice(internal practice) without any physical exercises(Asan) even Asan is most famous part of Yoga in the west. That means we can say, Yoga is actually for the getting mental peace and balance from the mind and know the truth of the world (internal world as well as external world).

In the SBG, yoga is about mind and soul. All the chapters(18) are named as Yoga in the end.

For example:
Chapter 1 as   Arjunvishad yoga
Chapter 2 as   Sankhya yoga
Chapter 3 as   Karma yoga
Chapter 4 as   Gyan-karma-sanyas yoga
Chapter 5 as   Karma-sanyas yoga
Chapter 6 as   Atmasanyam yoga
Chapter 7 as   Gyanvigyan yoga
Chapter 8 as   Aksharbrahm yoga
Chapter 9 as   Rajvidya-Rajhya yoga
Chapter 10 as Vibhuti yoga
Chapter 11 as Vishwarupdarshan yoga
Chapter 12 as Bhaktiyog
Chapter 13 as Kshetra-Kshetragyavibhag yoga
Chapter 14 as Gunatrayavibhag yoga
Chapter 15 as Purushotam yoga
Chapter 16 as Devasursampadvibhag yoga
Chapter 17 as Shradhatrayavibhag yoga
Chapter 18 as Mokshasanyas yoga
Prajhati yada kaman sarvan parth manogatan I
Atmanyevatmana tusthah sthitpragyastdochyate II (55,2 Gita)
At any Kala(time), when human beings sacrify completely his all wishes and desires and satisfied from heart(spirit) within spirit, in that time he call Sthirpragya(equanemous minded)

Srimad Bhagvad Gita is itself complete Yog but According to Yog, SBG is divided in three part. Chapter 1 to Chapter 6 is Karmakand(duety work), Chpater 7 to 12 is Bhaktikand(devotional work) and Chapter 13 to 18 is Gyankand(knowledge work).
Thare are many definitions about Yoga....but the meaning are same. To get controll over mind(to start the internal experience and get universal peace) and free from the attachment of sensual desire(Moksha). 

Yog in Gita 

1. Karmandyevadhikaraste ma phalesu  kadachana I
Ma karmaphalaheturbhurma te sangostvakarmani II (47:2 SBG)

Thy concern is with action alone, never with results. Let not the fruit of action be thy motive, nor let thy attachment be for inaction.

2. Yogastha kuru karmani sanga tyaktva dhanañjaya I
Siddhyasiddhyoh samo bhutva samatvam yoga uchyate II (48:2 SBG)

Steadfast in devotion do thy works, O Dhananjaya, casting off attachment, being the same in success and failure. Evenness is called Yoga.

3. Buddhiyukto jahatiha ubhe sukrtaduskrte I
Tasmad yogaya yujyasva yogah karmasu kausalam II (50:2 SBG)

He who is endued with wisdom casts off here both good deeds and bad deeds. Wherefore apply thyself to devotion. In regard to actions devotion is a power.

4. Srutivipratipanna te yada sthasyati nishchalaa I
Samadhavachala buddhistada yogam vapsyasi II (53:2 SBG)

When thy mind, perplexed by what thou hast heard, shall stand firm and steady in the Self, then wilt thou attain Yoga.

5. Prajahati yada kaman sarvan parth manogatan I
Atmanyevatmana tustah sthitaprajñastadochyate II (55:2 SBG)

When a man, satisfied in the Self alone by himself, completely casts off all the desires of the mind, then is he said to be one of steady knowledge.


6. Duhkhesvanudvignamanah sukhesu vigatasprha I
Vitaragabhayakrodhah sthitadhirmunir uchyate II (56:2 SBG)

He whose heart is not distressed in calamities, from whom all longing for pleasures has departed, who is free from attachment, fear and wrath, he is called a sage, a man of steady knowledge.

7. Yada sanharate chayam kurmonganiva sarvashah I
Indriyani indriyarthebhyastasya prajña pratisthita II (58:2 SBG)

When he completely withdraws the senses from sense-objects, as the tortoise (withdraws) its limbs from all sides, his knowledge is steady.

8. Dhyayato visayan punsah sangastesupajayate I
Sangatsañjayate kamah kamat krodhobhijayate II (62:2 SBG)

When a man thinks of objects, attachment for them arises. From attachment arises desire; from desire arises wrath.

9. Krodhad bhavati sammoha sammohatsmritivibhramah I
Smritibhramshad buddhinasho buddhinashat pranasyati II (63:2 SBG)

From wrath arises delusion; from delusion, failure of memory; from failure of memory, loss of conscience; from loss of conscience he is utterly ruined.

10. Lokesmindvi vidha nistha pura prokta mayanagh I
Jñanayogena sankhyanam karmayogen yoginaam II (3:3 SBG)

In this world a twofold path was taught by Me at first, O sinless one: that of Sankhyas by devotion to knowledge and that of Yogins by devotion to action.
 
11. Apane juvhati pranam pranepanam tathapare I
Pranapanagati ruddhva pranayamaparayanah II (29:4 SBG)

Others offer prana (outgoing breath) in apana (incoming breath) and apana in prana, restraining the passages of prana and apana, absorbed in Pranayama (restraint of breath).

12. Apre niyataharah prananpranesu juvhati I
Sarvepyete yajñavido yajñakshapit kalmasah II (30:4 SBG)

Others, with regulated food, offer life-breaths in life-breaths. All these are knowers of sacrifice, whose sins are destroyed by sacrifice.

13. Sparshan krtva bahirbahyanschakshuschaivantare bhruvoh I
Pranapanau samau kritva nasabhyantarcharinau II
Yatendriyamanobuddhirmunir mokshaparayanah I
Vigatechchhabhaya krodho yah sada mukta eva sah (27, 28:5 SBG)

Shutting out all external contracts and fixing the sight between the eye-brows, equalising the out-going and the in-going breaths which pass through the nostrils, controlling the senses, mind and intellect, having moksha as his highest goal, free from desire, fear and anger – the sage who ever (remains thus) is verily liberated.


14. Samam kayasirogrivam dharayannchalam sthirah I
Samprekshya nasikagram svam disaschanavalokayan II (13:6 SBG)

Holding erect and still the body, the head and the neck, firm, gazing on the tip of his nose, without looking around;

15. Asañsayam mahabaho mano durnigraham chalam I
Abhyasen tu kaunteya vairagyena cha grihyate II (35:6 SBG)

Doubtless, O mighty-armed, the mind is hard to restrain and restless; but by practice, O son of Kunti and by indifference it may be restrained.

16. Devadvijaguruprajñapujanam saucha marjavam I
Brahmacaryam ahimsa cha sariram tapa uchyate II (14:17 SBG)

Worshipping the Gods, the twice-born, teachers and wise men – purity, straightforwardness, continence and abstinence from injury are termed the bodily austerity.

17. Anudvegakaram vakyam satyam priyahitam cha yat I
Svadhyayabhyasanam chaiva vanmayam tapa uchyate II (15:17 SBG)

The speech which causes no excitement and is true, as also pleasant and beneficial and also the practice of sacred recitation, are said to form the austerity of speech.

18. Manahprasadah saumyatvam maunam atmavinigrahah I
Bhavasanshuddhi rityetattapo manasam uchyate II (16:17 SBG)

Serenity of mind, good-heartedness, silence, self-control, purity of nature – this is called the mental austerity.


Some small veiw in Gita with respect to Yoga
47.2         Type of karma
48.2         Yoga
50.2         Yoga
53.2         Yoga
55.2         Sthir pragya (Equanemous mind)
56.2         Sthir pragya (Equanemous mind)
58.2         Sthir pragya und pratyahar
62,63.2    Demotion of spirit
3.3           Gyanyog und karmayog
29,30.4    Pranayam
27,28.5    Pranayam und Shambhavi Mudra
13.6         Nasikagra dristi
14.6        Dharna
35.6         Vairagya (free from attachment)
14.17       Tapa
15,16.17 Tapa
Yogastha kuru karmani sanga tyaktva dhanañjaya I
                  Siddhyasiddhyoh samo bhutva samatvam yoga uchyate II   (48:2 SBG)

Steadfast in devotion do thy works, O Dhananjaya, casting off attachment, being the same in success and failure. Evenness is called Yoga.
Buddhiyukto jahatiha ubhe sukrtaduskrte I
Tasmad yogaya yujyasva yogah karmasu kausalam II (50:2 SBG)

He who is endued with wisdom casts off here both good deeds and bad deeds. Wherefore apply thyself to devotion. In regard to actions devotion is a power.
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