Bhagavad Gita 6.18 Chapter 6, Verse 18

यदा विनियतं चित्तमात्मन्येवावतिष्ठते ।
निःस्पृहः सर्वकामेभ्यो युक्त इत्युच्यते तदा ॥६.१८॥

yadā viniyataṃ cittamātmanyevāvatiṣṭhate
niḥspṛhaḥ sarvakāmebhyo yukta ityucyate tadā

Meaning

When the disciplined mind rests in the Self alone, free from craving for all desires, one is said to be established in yoga.

Newly written by Bhajan Dhun — scholarly review in progress.

Reference: Bhagavad Gita 6.18 (Chapter 6, The Yoga of Meditation (Atma Samyama Yoga), Verse 18)