2:51 "Seers in union with wisdom forsake the rewards of their work, and free from the bonds of birth, they go to the abode of salvation"
The sanskrit word Mascaro translates as "seers in union with wisdom" is buddhi-yuktaḥ. There are many translations of this term: "a man engaged in devotional service", "the yogi of equal mindedness" or "one endowed with spiritual intelligence". The meanings are equivalent: the man living in the wisdom of work, living Yoga, does not do so for reward: the work itself is important. Living in this manner, they go outside of the world of success and failure, good and bad, and break the cycle of rebirth.
2:52 "When thy mind leaves behind its dark forest of delusion, thou shalt go beyond the scriptures of times past and still to come."
Wisdom becomes inherent, and reference to outside sources is unnecessary (if you meet the Buddha on the road, kill him).
2:53 "When thy mind, that may be wavering in the contradictions of many scriptures, shall rest unshaken in divine contemplation, then the goal of Yoga is thine."
The seer in union with wisdom comes to find that all scripture is one; that it is only contradictory on the surface. The person comes to rest in simple contemplation of the divine.
2:54 "How is the man of tranquil wisdom, who abides in divine contemplation? What are his words? What is his silence? What is his work?"
2:55 "When a man surrenders all desires that come to the heart and by the grace of God finds the joy of God, then his soul has indeed found peace"
Note the wording here: "When a man surrrenders all desires...". The choice of the word surrender is quite telling. Men often struggle with desires as though at war with themselves. Surrender is a voluntary process of letting go, and does not require outside influence.
2:56 "He whose mind is untroubled by sorrows, and for pleasures he has no longings, beyond passion, and fear and anger, he is the sage of unwavering mind."
It is worth noting that the above passages illustrate the similarities and differences between Hinduism and Buddhism. The ideal in both is to go beyond desires, passions, anger, fear, pleasure and sorrow. However, to the Buddhist, one acheives this goal within one's self, and not "by the grace of God". Of the same base scriptures of the Vedanta have come two different approaches.
2:57 "Who everywhere is free from all ties, who neither rejoices nor sorrows if fortune is good or ill, his is a serene wisdom."
Freedom from extremes once again is similar to the Middle Path.
2:58 "When in recollection he withdraws all his senses from the attractions of the pleasures of sense, even as a tortoise withdraws all its limbs, then his is a serene wisdom."
Even in recalling fond memories, the yogi does not indulge in the sense of pleasure they bring.
2:59 "Pleasures of sense, but not desires, disappear from the austere soul. Even desires disappear when the soul has seen the Supreme."
Here, Krishna acknowledges that desires are a difficult burden to release one's self from. But, coming into enlightenment, desires can be released as well.