Bhagavad Gita: Chapter 6/Verse 23

तं विद्याद्‌दुःखसंयोगवियोगं योगसंज्ञितम् ।

स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा ॥६- २३॥

taṃ vidyād‌duḥkhasaṃyogaviyogaṃ yogasaṃjñitam ।
sa niścayena yoktavyo yogo'nirviṇṇacetasā ॥6- 23॥

That should be known as the dissolution of the connection with unpleasantness that is known as yoga. With thoughts which are not downcast yoga is to be practiced with the absence of doubt. 




tam (pronoun, 3rd person, masculine, accusative, singular) = that

vidyāt (optative, 3rd person, singular) = should be known 

duḥkhasaṃyogaviyogam (duḥkha + saṃyoga + viyogam) (masculine, accusative, singular) = dissolution of the connection with unpleasantness 

yogasaṃjñitam (yoga + saṃjñitam) (past passive participle, masculine, accusative, singular) = known as yoga 

sas (pronoun, 3rd person, masculine, nominative, singular) = that

niścayena (masculine, instrumental, singular) = with absence of doubt 

yoktavyas (gerundive, masculine, nominative, singular) = to be practiced 

yogas (masculine, nominative, singular) = yoga

anirviṇṇacetasā (anirviṇṇa + cetasā) (masculine, instrumental, singular) = with thoughts which are not downcast