Chapter 2 - Verse 39

This, which has been taught to you, constitutes wisdom (buddhi) concerning Sànkhya or the true nature of the Absolute Reality,—that wisdom by which may be brought about the cessation of the evil* which is the cause of samsâra, —of grief, attachment, and the like. Now, listen to the teaching (which follows presently) concerning Yoga, which is the means of attaining wisdom concerning Sänkhya. This Yoga, which constitutes the worship of Īśvara consists in practising samâdhi or in performing works without attachment, after killing all pairs of opposites (such as heat and cold).

The ignorance of the true nature of the Self.

Now He extols the wisdom concerning Yoga, in order to create an interest in it. When possessed of wisdom concerning Yoga, O son of Pṛthā, you will cast off the bond of action (karma), of dharma and a-dharma, of virtue and sin, of merit and demerit, this severance of the bond being effected only on attaining to a knowledge of the Self through Divine Grace (Īśvara-prasâda).