तपः स्वाध्यायेश्वरप्रणिधानानि क्रियायोगः ॥१॥
tapaḥ svādhyāy-eśvarapraṇidhānāni kriyā-yogaḥ ||1||

[RS] 2.1 Practice characterized by rigor and vigilance toward itself, without attachment to the outcome, is known as kriya yoga.

[JW] 2.1 Self-castigation and study and devotion to the Icvara are the Yoga of action.

[SS] 2.1 Accepting pain as help for purification, study of spiritual books, and surrender to Supreme Being constitute Yoga in practice. [p79]

[EB] 2.1 Kriya-yoga, the path of action, consists of self-discipline, study, and dedication to the Lord. [p169]

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(तपः, tapaḥ) = austerity; discpline; intensity; self discipline
(स्वाध्याय, svādhyāya) = self-knowledge; vigilance concerning onself
(ईश्वरप्रणिधान, īśvarapraṇidhāna) = submission to a personal God; self appointed task; without attachment to the outcome
(क्रिया, kriyā) = action; yoga of action; kriya yoga
(योगः, yogaḥ) = yoga