6:15
युञ्जन्नेवं सदात्मानं योगी नियतमानसः ।
शान्तिं निर्वाणपरमां मत्संस्थामधिगच्छति ॥६- १५॥
yuJNjannewaM sadaatmaanaM yogii niyatamaanasaH ।
shaantiM nirwaaNaparamaaM matsaMsthaamadhigachChati ॥६- १५॥
Source: Automatic ITRANS Transliteration
Thus, by always keeping the mind fixed on the Self, the yogi whose mind is subdued attains peace of the Supreme nirvana by uniting with Me.
Thus practicing control of the body, mind and activities, the mystic transcendentalist attains to the kingdom of God [or the abode of Krsna] by cessation of material existence.
Source: Bhagavad Gita As It Is