Chapter 6 · verse 4 · gita.yoga.org

Bhagavad Gita 6.4

यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते। सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते

When a person is not attached to the sense-objects or to actions, having renounced all thoughts, then they are said to have attained Yoga.