श्रुतिविप्रतिपन्ना ते यदा स्थास्यति निश्चला।समाधावचला बुद्धिस्तदा योगमवाप्स्यसि॥
śruti-vipratipannā te yadā sthāsyati niścalāsamādhāv-acalā buddhis tadā yogam avāpsyasi
Word by word
The verse says
When the scriptures have stopped pulling you about, and your mind stands still and unmoved, then you will have yoga.
In plain words
The conclusion of the argument that began at verse 39.
Two conditions. The competing voices of scripture no longer pull you around. And the mind stands still.
Then — not before — you will have yoga.
Where you've felt this · in relationships
You stop asking four people for advice about the same decision. Not because you found the right adviser. Because you can hear yourself now, and you notice the asking was a way of not deciding.
Going deeper
Śruti-vipratipannā is the difficult phrase, and the difficulty is worth showing rather than hiding.
Vipratipanna means confused, or set at variance. So the compound is either your mind, confused by the scriptures or your mind, no longer disturbed by their conflicting claims. Commentators divide, and the second reading is the more natural fit here.
On that reading the verse is describing a real problem. Scripture is vast and does not speak with one voice. The ritual portions promise heaven for sacrifice; passages like 2.45 say go past all that. A sincere person trying to obey everything is pulled in several directions at once — which is verse 41's branching, arriving through piety rather than through desire.
Niścalā and acalā — unmoving, unshaken — are near-synonyms placed together for emphasis. The Sanskrit doubles down where English would reach for an adverb.
And this verse ends the section. Arjuna's reply at 2.54 changes the subject entirely, and produces the best question in the chapter.