Yoga means linking with the Supreme. The Bhagavad-gita (Chapter 6, verses 1-47) describes the yoga system in detail. Various yoga systems exist (karma-yoga, jnana-yoga, dhyana-yoga, bhakti-yoga), but all aim at the same goal. The Bhagavad-gita (12.2-5) teaches that the highest yoga is bhakti-yoga, devotional service, because it directly engages one with the Supreme. Meditation should focus on the Supreme Person, and bhakti-yoga is the most direct path.

Like a tortoise withdrawing its limbs, the yogi must withdraw the senses from sense objects, as taught in the Bhagavad-gita (2.58-61). The Bhagavad-gita (6.24-26) teaches that this doesn't mean suppression but proper engagement in spiritual activities. When senses are engaged in devotional service, they naturally become controlled. The positive method is devotional engagement rather than mere sense suppression.