This verse marks the entrance into the ultimate state of Samadhi (which continues into verses 21-23). Krishna describes the exact moment of breakthrough. That state wherein (yatra) the mind completely ceases its movements and rejoices in stillness (uparamate cittaṃ), having been thoroughly restrained and disciplined by the relentless practice of Yoga (niruddhaṃ yoga-sevayā). And that state wherein (yatra ca eva) one sees and perceives the Self (ātmānaṃ paśyan) solely by means of the pure mind/Self (ātmanā), and finds absolute, overflowing satisfaction exclusively within the Self (ātmani tuṣyati).