Bhagavad Gita 6.2 Chapter 6, Verse 2

यं संन्यासमिति प्राहुर्योगं तं विद्धि पाण्डव ।
न ह्यसंन्यस्तसङ्कल्पो योगी भवति कश्चन ॥६.२॥

yaṃ saṃnyāsamiti prāhuryogaṃ taṃ viddhi pāṇḍava
na hyasaṃnyastasaṅkalpo yogī bhavati kaścana

Meaning

O son of Pandu, what is called renunciation, know that to be yoga; for no one becomes a yogi without giving up selfish intentions.

Newly written by Bhajan Dhun — scholarly review in progress.

Reference: Bhagavad Gita 6.2 (Chapter 6, The Yoga of Meditation (Atma Samyama Yoga), Verse 2)