BG 6.4
यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते ।
सर्वसङ्कल्पसन्न्यासी योगारूढस्तदोच्यते ॥
सर्वसङ्कल्पसन्न्यासी योगारूढस्तदोच्यते ॥
yadā hi nendriyārtheṣu na karmasv anuṣajjate
sarva-saṅkalpa-sannyāsī yogārūḍhas tadocyate
sarva-saṅkalpa-sannyāsī yogārūḍhas tadocyate
Word-for-word meanings
yadā hi — when indeed; anuṣajjate — a person is attached; na indriya-artheṣu — neither to the sense objects; na karmasu — nor to the actions [that lead to their enjoyment]; sannyāsī — being one who has given up; sarva-saṅkalpa — all volition [related to sensual enjoyment]; tadā — at that time; ucyate — he is said; yoga-ārūḍhaḥ — to have ascended to the completion stage of yoga.
Translation
When indeed a person is without attachment for the objects of the senses and for the actions that lead to their enjoyment, having given up all volition in this regard, then he is said to have ascended to the completion stage of yoga.