Bhagavad-gītā As It Is · Text 6.18
Yoga practice, posture and moderation
यदा विनियतं चित्तमात्मन्येवावतिष्ठते ।
निस्पृह: सर्वकामेभ्यो युक्त इत्युच्यते तदा ॥ १८ ॥
yadā viniyataṁ cittam
ātmany evāvatiṣṭhate
nispṛhaḥ sarva-kāmebhyo
yukta ity ucyate tadā
When the yogī, by practice of yoga, disciplines his mental activities and becomes situated in transcendence – devoid of all material desires – he is said to be well established in yoga.
Read Śrīla Prabhupāda's purport on Vedabase.io