The Regal Way to Realization

The position [must be] steady and comfortable.
47. By way of relaxing of all [tension] and meditating on ānanta [one has a comfortable position.]
48. From this [right position,] no assault by the pairs of opposites.

When [the yogi] becomes firm [in] non-possessiveness, he has knowledge of the why of re-birth.

The action (karma) of the yogi is neither white nor black, while it is threefold in the others.

doing saṁyama] on the center of the navel [one gains] the knowledge of the constitution of the body.

Concentration (dhāraṇā) is to fix the citta on one point.
2. To be fixed uninterruptedly on this point is meditation (dhyāna).
3. The same [meditation,] when it takes only the essential form of the object and not that of its mental representation, is called samādhi.

Egotism (asmitā) corresponds to the identification of the seer with the power of seeing [with the instruments of contact.]

That state of concentration called argumentative (savitarka) is mixed with speech, idea (meaning) and knowledge.
43. When memory is purified and the mind loses its form and only the real knowledge of the object [of concentration] shines, one has the state of concentration without argumentation (nirvitarka).
44. And thus are explained (referring to the two prior sūtras) also the argumentation and the without argumentation states in which subtle objects inhere.

Non-attachment is conscious mastery on the part of he who has stopped thirsting for visible and audible [revealed] objects.
16. The supreme [detachment] is represented [also] by a complete freedom from the guṇas as the result of the awareness of the puruṣa.