Bhagavad Gita, Chapter 5, Verse 29

Knowing Me as the dispenser of Yajnas and asceticisms, as the Great Lord of all worlds, as the friend of all beings, he attains Peace.

All of it, every practice, every discipline, was always in service of a relationship, not just a technique to master alone.

This closes the chapter by pulling the focus back to something relational rather than purely technical. All the discipline described throughout this chapter ultimately means something because of who it's actually directed toward, not as an isolated achievement.