Bhagavad Gita Verse 6.4

जिस कालमें न तो इन्द्रियोंके भोगोंमें और न कर्मोंमें ही आसक्त होता है, उस कालमें सर्वसंकल्पोंका त्यागी पुरुष योगारूढ़ कहा जाता है|

When one is no longer attached to sensual objects or to the Karma that he does, and when he has totally rid himself of all desires, at that time, a person is considered to be fully and undoubtedly established in Yoga.