यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते ।सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते ॥
yadā hi nendriyārtheṣu na karmasvanuṣajjate |sarvasaṅkalpasaṃnyāsī yogārūḍhastadocyate ||
When a person is no longer attached to the objects of the senses or to actions, and has renounced every intention and plan, then he is said to have climbed to yoga.
Explanation
Krishna continues describing the practitioner who has progressed from action to stillness. Here he says one is established in yoga (yogārūḍha) when there is no attachment (saṅga) to sense objects or to deeds, and all willed plans and desires (saṅkalpa) are given up. Commentators differ on emphasis: some stress inner renunciation of desire while still acting, others a withdrawal from activity, but all agree the key is freedom from attachment.