sah—that yoga system; niscayena—with firm determination; yoktavyah—must be practiced; yogah—in such practice; anirvinna-cetasa—without deviation; sankalpa—material desires; prabhavan—born of; kaman—sense gratification; tyaktva—giving up; sarvan—all; asesatah—completely; manasa—by the mind; eva—certainly; indriya-gramam—the full set of senses; viniyamya—regulating; samantatah—from all sides.