Yoga  as Rejected by Arjuna
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the explanation of the meditational system of  yoga —how to sit down, how to keep the body straight, how to keep the eyes half-closed and how to gaze at the tip of the nose without diverting one’s attention, all this being conducted in a secluded place alone—he replied:
yo ’yam yogas tvayā proktaḥ sāmyena madhusūdana etasyāhaṁ na paśyāmi cañcalatvāt sthitiṁ sthirām
“O Madhusūdana, the system of  yoga  which You have summarized appears impractical and unendurable to me, for the mind is restless and unsteady.” (Bg. 6.33) This is important. We must always remember that we are in a material circumstance wherein at every moment our mind is subject to agitation. Actually we are not in a very comfortable situation. We are always thinking that by changing our situation we will overcome our mental agitation, and we are always thinking that when we reach a certain point, all mental agitations will disappear. But it is the nature of the material world that we cannot be free from anxiety. Our dilemma is that we are always trying to make a solution to our problems, but this universe is so designed that these solutions never come.
Not being a cheater, being very frank and open, Arjuna tells Krṣṇa that the system of  yoga  which He has described is not possible for him to execute. In speaking to Krṣṇa, it is significant that Arjuna addresses Him as Madhusūdana, indicating that