Bhagavad Gita Verse 44, Chapter 11

tasmaatpranamya pranidhaaya kaayam prasaadaye tvaamahameeshameedyam |
piteva putrasya sakheva sakhyuhu priyaha priyaayaarhasi deva sodhum || 44 ||
 
Therefore, prostrating my body, bowing down, I beg you to be pleased, O Ishvara, worthy of worship. Like a father tolerates his son, a friend his friend, a lover his beloved, so should you tolerate (me), O Lord.
 
tasmaat : therefore
pranamya : bow
pranidhaaya : prostrating
kaayam : body
prasaadaye : pleased
tvaam : you
aham : I
eesham : Ishvara
eedyam : worthy of worship
pitaa : father
eva : like
putrasya : son
sakhaa : friend
eva : like
sakhyuhu : friend
priyaha : lover
priyaahaa : beloved
arhasi : should
deva : O Lord
sodhum : tolerate
 
This shloka evokes an illustration from The Mundaka Upanishad of two birds sitting on the branch of a tree. The two birds are friends. One bird, symbolizing the human condition, is completely engrossed in enjoying the fruit of the tree. This bird doesn’t realize that it has developed an attachment to the fruit, and that the fruit will eventually become the cause of its sorrow. Similarly, we do not realize that the more we get stuck in objects, the more the objects get stuck to us. The Gita has repeatedly pointed out this theme.
 
Now, the second bird on that branch symbolizes the Ishvara principle. It does not get attached to the fruit, it simply watches the show as a passive onlooker. The first bird is so engrossed in its sense enjoyments that it never pays attention to the second bird. Like Arjuna, and like all of us, the first bird is stuck in the delusion of the material world. The moment the first bird stops its indulgence and looks at the second bird, its bondage is snapped. Without the help of this Ishvara principle, we cannot extricate ourselves from the pull of the senses. For most of us, this Ishvara principle is our teacher, our guru.
 
So through this shloka, we are instructed to completely surrender ourselves in prostration to that Ishvara principle. When Arjuna undertook a “saashtaanga namaskaara”, a total surrender of his body through prostration, he referred to SHri Krishna as his friend, recalling the illustration of the two birds who were friends. Arjuna asked for a father’s forgiveness, a friend’s forgiveness and the beloved’s forgiveness - three categories of forgiveness since he wanted all of these from Shri Krishna.

Bhagavad Gita Verse 23, Chapter 5

shoknotihaiva yaha sodhum praakshareeravimokshanaat |
kaamakrodhaadbhavam vegam sa yuktaha sa sukhee naraha || 23 ||
 
He who, even before this body departs, is capable of withstanding the impulse born out of desire and anger; that person is a yogi, that person is blissful.
 
shoknoti : capable of
iha : this body
eva : even
yaha : he who
sodhum : can withstand
praak : before
shareera : body
vimokshanaat : departs
kaamakrodhaadbhavam : born out of desire and anger
vegam : impulse
sa : that is
yuktaha : is a yogi
sa : that is
sukhee : blissful
naraha : person
 
In this shloka, Shri Krishna points out exactly why does the mind rush out into the material world. He says that in a person who working towards purifying his mind, there still exists two major obstacles to realization: desire and anger. Both of these generate impulses that cause the mind to go out into the material world. Even though the seeker cannot get rid of desire and anger, but can check the impulses caused by them, that person will attain happiness from within than from without.
 
Let's examine what exactly is desire and anger in the framework of the Gita. Whenever one encounters sense pleasures, or recalls a memory of a sense pleasure, the need to re-experience that sense pleasure is called desire. Conversely, whenever one encounters a sorrowful circumstance, or recalls a sorrowful memory, the repulsion generated is called anger. Both these emotions generate impulses to chase after, or run away from an object, person or circumstance. For the mind to realize the eternal essence, it needs to be even-keel. But these impulses take the mind outwards and destabilize it.
 
Now, there is a possibility of a Catch-22 situation here. There will be an impulse within us to seek joy. Unless we redirect it inward, it will always rush outward. But if we redirect it inward and it does not find joy, it will again go outward. Therefore, turning this impulse inward has to be done intelligently. If all we do is cut ourselves off from the objects that give us pleasure, it will not work. Instead, we must work diligently towards purification of our mind and performance of svaadhyaava, whether it is reading of scriptures, or pooja and so on. As our mind finds exponentially more joy in svaadhyaaya, it will automatically turn inwards and drop its fascination with external objects.
 
The next two shlokas describe the state of the person who finds inner bliss.