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Yoga As Work In Devotion
We have heard the names of so many different  yogas  and  yogīs , but in  Bhagavad-gītā  Kṛṣṇa says that he is the actual  yogī  who has surrendered himself “fully unto Me.” Kṛṣṇa proclaims that there is no difference between renunciation ( sannyāsa ) and  yoga .
yaṁ sannyāsam iti prāhur 
    yogaṁ taṁ viddhi pāṇḍava 
    na hy asannyasta-saṅkalpo 
    yogī bhavati kaścana
“What is called renunciation is the same as  yoga , or linking oneself with the Supreme; for no one can become a  yogī  unless he renounces the desire for sense gratification.” (Bg. 6.2)
In  Bhagavad-gītā  there are three basic types of  yoga  delineated— karma-yoga ,  jñāna-yoga  and  bhakti-yoga . The systems of  yoga  may be likened unto a staircase. Someone may be on the first step, someone may be halfway up, or someone may be on the top step. When one is elevated to certain levels, he is known as a  karma-yogī ,  jñāna-yogī , etc. In all cases, the service to the Supreme Lord is the same. It is a difference in elevation only. Thus Srī Kṛṣṇa tells Arjuna that he must understand that renunciation ( sannyāsa ) and  yoga  are the same because without being freed from desire and sense gratification one can become neither a  yogī  nor a  sannyāsī .
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