prashanta-manasam hy enam
yoginam sukham uttamam
"To attain the supreme bliss, the yogi, performs yoga which removes the sins, the rajo and tamo gunas are pacified and gets a serene mind leading atman to its natural quality of supreme bliss."
Here many words are in the second case of accusative in English grammar. Five characteristics are mentioned and sucha a person attains supreme bliss. We will describe the steps as per the meaning and so they will not be in the same order in which they appear in the sloka.
The yogi gets all his papas burnt, and is rid of rajo and tamo gunas, gets serene mind and so the mind thinks of atman alone, which results in atman's natural quality of supreme bliss. This is atmanubhavam. In the sloka the meaning conveyed is yogi who is after supreme bliss, gets it, when his sins are burnt, rajo and tamo qualities are got rid of and mind is pure and serene. We have to reach the first step. We choose a proper place, good seat and with all sense organs controlled, mind has to be directed on atman. That has to be done by going in its own way and by proper commands. For the time we are in yoga we have to ensure that we are not distracted by anything else. That is how Prahalada was. Every time he was subjected to a torture, his mind never drifted away from the Lord. When he was thrown into the flames, he saw the glowing fire as the hue of the Lord and so embraced it. When he was dropped in the ocean, he thought it was the abode of the Lord and searched for Him. When poison was given, he saw the Lord's dark blue colour in that. When poisonous snakes were directed to bite him, he saw them as the bed of the Lord. With such peak level in yoga he was not afraid to face any torture. None appeared as enemies for him. He tells his father Hiranyakasipu that there is nothing like friend or enemy as the Lord resides in all. How such a small boy of just 5 years old could practice yoga, when we find it is so difficult even at advanced age? We must remember Prahalada, Dhruva and others had the blessings of the Lord. But we have to take efforts. So yoginam is the first step and we have to sincerely try to practice yoga. Once we take the first step, there after He will provide all assistance to reach the final step. Because He is waiting to bless us on one pretext or other.