Why: thus, always keeping the self disciplined, the yogi of controlled mind attains the peace that culminates in liberation, and abides in Krishna, framing the whole detailed method as leading toward one clear, worthwhile destination.

In life: a demanding daily practice is easier to sustain when you keep the actual destination in view, not just the discipline for its own sake.

Teaching: periodically remind yourself why you started a demanding practice in the first place, reconnecting to the destination makes the daily discipline easier to keep sustaining.