rāgadveṣaviyuktaistu viṣayānindriyaiścaran
ātmavaśyairvidheyātmā prasādamadhigacchati
But the self-disciplined seeker, with senses under control free from attraction and repulsion, while moving amongst the sensual objects, attains to supreme felicity of the inner-self.
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After a strict warning a positive inspiration is given. 'Tu' By using this word the Blessed Lord has made it clear that the state of fall is given for the sake of caution. The actual situation is, that which is being explained with the word 'tu'. But...by doing so one can attain to the tranquility of the inner-self. The question of Arjun relates to–how does a man of steady wisdom walk? Every act of Lord Shri Krishna is an expression of emotion and is spectacular. The way of delivering the sermon is also impressive and the manner of questioning and giving replies is even more so.
It is senses which wander in the world. In the words of Kathopanishad the senses are the horses of the chariot of life and sensual objects are the path on which they travel–'indriyani ayanahurvishyaamsteshugocharaan'.
The senses under the influence of attachment and aversion wander amidst the worldly objects. In suitable circumstances there is attachment and in unsuitable aversion. Owing to this, the bondage of happiness and sorrow remains. The Blessed Lord has categorically warned the pilgrims on the path of spiritual evolution that every sense organ has its likes or dislikes of sensual objects, hence do not come under their sway; because they are enemies on the path of spiritual welfare (Gita-3/34). Both likes and dislikes are chains. Both result in stress, peacelessness and grief. Owing to these two the individual soul is unable to advance on the path of welfare. The vision devoid of attachment and aversion is centred on God. 'Atmavasheh vidhyatma' the innate self is in complete control. As the emotions are of the inner state, so will be the conduct of the senses.