Srimad-Bhagavatam: Canto 11 - Chapter 1 - Verse 22

Sanskrit:

मनुष्यास्तु तदा शान्ता निर्वैरा: सुहृद: समा: ।यजन्ति तपसा देवं शमेन च दमेन च ॥ २२ ॥

ITRANS:

manuṣyās tu tadā śāntānirvairāḥ suhṛdaḥ samāḥyajanti tapasā devaṁśamena ca damena ca

Translation:

People in Satya-yuga are peaceful, nonenvious, friendly to every creature and steady in all situations. They worship the Supreme Personality by austere meditation and by internal and external sense control.

Purport:

In Satya-yuga the Supreme Lord incarnates as a four-armed brahmacārī described in the previous verse and personally introduces the process of meditation.