Bhagavad Gita 6.4 Chapter 6, Verse 4

यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते ।
सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते ॥६.४॥

yadā hi nendriyārtheṣu na karmasvanuṣajjate
sarvasaṅkalpasaṃnyāsī yogārūḍhastadocyate

Meaning

When one is attached neither to sense objects nor to actions and has given up all selfish intentions, one is said to have attained yoga.

Newly written by Bhajan Dhun — scholarly review in progress.

Reference: Bhagavad Gita 6.4 (Chapter 6, The Yoga of Meditation (Atma Samyama Yoga), Verse 4)