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Lord Krishna has Himself defined Yoga in great detail in Bhagavad Gita. He has not left any scope for mental speculation. Kindly go through the below thread:

sarva-dvārāṇi saṁyamya
mano hṛdi nirudhya ca
mūrdhny ādhāyātmanaḥ prāṇam
āsthito yoga-dhāraṇām (Gita 8.12)
“The yogic situation is that of detachment from all sensual engagements. Closing all the doors of the senses and fixing the mind on the heart and the life air at the top of the head, one establishes himself in yoga.” [Bhagavad-gītā 8.12]
Yoga means to get into touch with the Supreme Lord. The process, however, includes several bodily features such as āsana, dhyāna, prāṇāyāma and meditation, and all of them are meant for concentrating upon the localized aspect of Vāsudeva represented as Paramātmā.
The whole yoga system is meant for concentrating the mind on Viṣṇu.The actual meaning of the word yoga is “plus.” Now, at the present moment, we are minus God, minus the Supreme. But when we make ourselves plus, or connected with God, then our human form of life is perfect.
Kṛṣṇa tells Arjuna that he should act in yoga. And what is that yoga? Yoga means to concentrate the mind upon the Supreme by controlling the ever-disturbing senses. (Gita 2.48)
As Kṛṣṇa states in Gita [8.14]:

ananya-cetāḥ satataṁ
yo māṁ smarati nityaśaḥ
tasyāhaṁ sulabhaḥ pārtha
nitya-yuktasya yoginaḥ

O Parth, for those yogis who always think of Me with exclusive devotion, I am easily attainable because of their constant absorption in Me.
Yoga means to link up with the Supreme Lord. Yoga means controlling the senses. The senses cannot be controlled in the proper sense of the term; they are always agitated.The word yoga means "link." Yoga is an attempt to reconnect our broken relationship with the Lord.
Good health, youthfulness, concentration, mind control etc. are the by products of Yoga and not the main goal. The main goal of Yoga is to achieve the highest perfection or devotion to the Supreme Lord.
yoginam api sarvesam
mad-gatenantar-atmana
sraddhavan bhajate yo mam
sa me yuktatamo matah. (Gita 6.47)
TRANSLATION
And of all yogis, he who always abides in Me with great faith, worshiping Me in transcendental loving service, is most intimately united with Me in yoga and is the highest of all. (Gita 6.47)
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