The Bhagavad Gita by Eknath Easwaran

The Practice of Meditation ╯
practice one-pointedness, free from expectations
and attachment to material possessions.
11
Select a clean spot, neither too high nor too low,
and seat yourself firmly on a cloth, a deerskin, and
kusha grass. 12 Then, once seated, strive to still your
thoughts. Make your mind one-pointed in meditation,
and your heart will be purified. 13 Hold your body,
head, and neck firmly in a straight line, and keep
your eyes from wandering. 14 With all fears dissolved
in the peace of the Self and all actions dedicated to
Brahman, controlling the mind and fixing it on me, sit
in meditation with me as your only goal. 15 With senses
and mind constantly controlled through meditation,
united with the Self within, an aspirant attains
nirvana, the state of abiding joy and peace in me.
16
Arjuna, those who eat too much or eat too little,
who sleep too much or sleep too little, will not
succeed in meditation. 17 But those who are temperate
in eating and sleeping, work and recreation, will
come to the end of sorrow through meditation.
18
Through constant effort they learn to withdraw
the mind from selfish cravings and absorb it in
the Self. Thus they attain the state of union.
141 ╯