Bhagavad Gita: Chapter 6/Verse 36

असंयतात्मना योगो दुष्प्राप इति मे मतिः ।

वश्यात्मना तु यतता शक्योऽवाप्तुमुपायतः ॥६- ३६॥

asaṃyatātmanā yogo duṣprāpa iti me matiḥ ।
vaśyātmanā tu yatatā śakyo'vāptumupāyataḥ ॥6- 36॥

My understanding is with the self which is uncontrolled, yoga is difficult to attain. But with the self which is controlled, one is able to attain by some means with effort. 



asaṃyatātmanā (asaṃyat + ātmanā) (masculine, instrumental, singular) = with the self which is uncontrolled  

yogas (masculine, nominative, singular) = yoga

duṣprāpas (masculine, nominative, singular) = difficult to attain 

iti (punctuation) (indeclinable) = (syntax marker)

me (pronoun, 1st person, genitive, singular) = my

matis (feminine, nominative, singular) = understanding 


vaśyātmanā (vaśya + ātmanā) (masculine, instrumental, singular) = with the self which is controlled 

tu (adverb) (indeclinable) = but

yatatā (present participle, masculine, instrumental, singular) = with effort  

śakyas (masculine, nominative, singular) = one is able

avāptum (infinitive) (indeclinable) = to attain 

upāyatas (adverb) (indeclinable) = by some means