A skilled yogi blossoms even while living in the three gunas, just as a lotus flower blossoms in muddy waters.

Pratyahara;  (Taking the senses inward) Pratyahara is the the 5th limb of 8 limbs of Ashtanga Yoga, which is explained in Patanjali Yoga Sutras. Lord Krishna also mentions Ashtanga Yoga in Bhagvad Gita but gives no explanation, and neither does Arjuna asks about it, suggesting that Ashtanga Yoga was well known...