Know the Self as the Lord of the Chariot and the body as the Chariot. Know the intellect as the Charioteer and the mind as the reins.
(1) Self (lord of the chariot Soul
(2) Body (chariot) Body
(3) Intellect (charioteer) Budhi
(4) Mind (reins) Manas
(5) Senses (horses) Senses