Summary
Krishna describes the process of meditation (Dhyana Yoga) to control the mind and attain self-realization.
Verse 5
उद्धरेदात्मनात्मानं नात्मानमवसादयेत् । आत्मैव ह्यात्मनो बन्धुरात्मैव रिपुरात्मनः ॥
uddhared ātmanātmānaṃ nātmānam avasādayet | ātmaiva hy ātmano bandhur ātmaiva ripur ātmanaḥ ||
One must deliver himself with the help of his mind, and not degrade himself. The mind is the friend of the conditioned soul, and his enemy as well.