यत्रोपरमते चित्तं निरुद्धं योगसेवया।यत्र चैवात्मनाऽऽत्मानं पश्यन्नात्मनि तुष्यति॥
yatroparamate cittaṃ niruddhaṃ yoga-sevayāyatra caivātmanātmānaṃ paśyann ātmani tuṣyati
Word by word
The verse says
Where the mind comes to rest, held in by the practice of yoga; and where, seeing the self by the self, he is content in the self —
In plain words
The start of a long sentence that runs through four verses.
It is a definition being built slowly, and it will not finish until 6.23.
This piece names the place: the mind at rest, and content there.
Where you've felt this · in failure
You stop checking whether you are making progress and simply do the thing. Oddly, that is the week you make progress. You only find that out afterwards.
Going deeper
Four verses are being spent on one sentence, and the length is not decoration.
Krishna is building a definition by accumulation rather than by statement. Each piece adds a condition, and the whole thing only lands at 6.23. A reader who stops early gets a fragment.
Ātmanā ātmānaṁ paśyan — seeing the self by the self. There is no third thing in that phrase: no instrument, no method, nothing standing between. Whatever is being described is not an observation.
And the word for content is worth holding: he is content in the self, not with it. It is a location rather than an opinion.
Which is the hinge the rest of the sentence hangs on. If contentment has a place rather than a cause, then it does not need supplying, and the next three verses draw out what follows from that.