्वते योगं प्रोक्तवानहमव्ययम्‌ ।

imam vivasvate yogam

proktavan aham avyayam

vivasvan manave praha

manur iksvakave ‘bravit

śrī bhagavān uvāca—the Supreme Personality of Godhead said; imam—this; vivasvate—unto ṣvākave—unto King Ikṣvāku; abravīt—said.

The Blessed Lord said: I instructed this imperishable science of yoga to the sun-god, Vivasvān, and Vं राजर्षयो विदुः ।

imam rajarsayo viduh

sa kaleneha mahata

yogo nastah parantapa

evam—thus; paramparā—disciplic succession; prāptam—received; imam—this science; rājarṣayaḥ—the saintly kings; viduḥ—understood; saḥ—that knowledge; kālena—in the course of time; iha—in this world; mahatā—by great; yogaḥ—the science of one’s relationship with the Supreme; naṣṭaḥ—scattered; parantapa—O Arjuna, subduer of the enemies.

This supreme science was thus received through the chain of disciplic succession, and the saintly kings understood it in that way. But in course of time the succession was broken, and therefore the science as it is appears to be lost.

yogah proktah puratanah

bhakto ‘si me sakha ceti

rahasyam hy etad uttamam

saḥ—the same ancient; eva—certainly; ayam—this; mayā—by Me; te—unto you; adya—today; y