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THE PATH OF PERFECTION
“When the  yogī , by practice of  yoga , disciplines his mental activities and becomes situated in Transcendence—devoid of all material desires—he is said to have attained  yoga .” (Bg. 6.18)
The perfection of  yoga  means keeping the mind in a state of equilibrium. Materially speaking, this is impossible. After reading a mundane novel once, you will not want to read it again, but you can read  Bhagavad-gītā  four times a day and still not tire of it. You may chant someone's name a half an hour, or sing a mundane song three or four times, but before long this becomes tiresome. Hare Kṛṣṇa, however, can be chanted day and night, and one will never tire of it. Therefore it is only through transcendental vibration that the mind can be kept in a state of equilibrium. When one's mental activities are thus stabilized, one is said to have attained  yoga .
The perfectional stage of  yoga  was exhibited by King Ambarīṣa, who utilized all his senses in the service of the Lord. As stated in  Śrīmad-Bhāgavatam  (9.4.18–20),
sa vai manaḥ kṛṣṇa-padāravindayor vacāṁsi vaikuṇṭha-guṇānuvarṇane karau harer mandira-mārjanādiṣu śrutiṁ cakārācyuta-sat-kathodaye
mukunda-lingālaya-darśane dṛśau tad-bhṛtya-gātra-sparśe 'ṅga-saṅgamam ghrāṇaṁ ca tat-pāda-saroja-saurabhe śrīmat-tulasyā rasanaṁ tad-arpite
pādau hareḥ kṣetra-padānusarpaṇe śiro hṛṣīkeśa-padābhivandane kāmaṁ ca dāsye na tu kāma-kāmyayā yathottamaśloka-janāśrayā ratiḥ
“King Ambarīşa first of all engaged his mind on the lotus feet of Lord Kṛṣṇa; then, one after another, he engaged his words in describing the transcendental qualities of the Lord, his hands in mopping the temple of the Lord, his ears in hearing of the ac-
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tivities of the Lord, his eyes in seeing the transcendental forms of the Lord, his body in touching the bodies of the devotees, his sense of smell in smelling the scents of the lotus flowers offered to the Lord, his tongue in tasting the  tulasī  leaf offered at the temple of the Lord, his head in offering obeisances unto the Lord, and his desires in executing the mission of the Lord. All these transcendental activities are quite befitting a pure devotee.”
This, then, is the perfection of  yoga  devoid of all material desire. If all our desires are for Kṛṣṇa, there is no scope for material desire. All material desire is automatically finished. We don't have to try to concentrate artificially. All perfection is there in Kṛṣṇa consciousness because it is on the spiritual platform. Being on the spiritual platform, this supreme  yoga  is eternal, blissful, and full of knowledge. Therefore there are no misgivings or material impediments.