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बुद्धियुक्तो जहातीह उभे सुकृतदुष्कृते ।
तस्माद्योगाय युज्यस्व योग: कर्मसु कौशलम्  ॥

buddhi-yukto jahātīha ubhe sukṛta-duṣkṛte
tasmād-yogāya yujyasva yoga: karmasu kauśalam – 2.50

One with intelligence attuned to yoga outlives both virtue and vice. Therefore, dedicate yourself to yoga. Yoga is verily dexterity in performing all kinds of actions.