The entire technology of Patanjali Yoga is being borrowed and used by Vedanta. This is a powerful technology of concentration and focus. How is it done? Shana, Shana, Upar, Rupa, Rameed, slowly by degrees. One should not be like Hanuman who jumped over the sea to go to Lanka. Even Rama had to build a bridge to walk from India to Sri Lanka.
Swami Sarvapriyananda teaches Chapter 6 (Verses 24-25) of the Bhagavad Gita. In this series of talks, Swami Sarvapriyananda unfolds the highest truths of Vedanta through the study of the Bhagavad Gita (The Song of God).