Bhagavad Gita · 6.4

यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते।सर्वसङ्कल्पसन्न्यासी योगारूढस्तदोच्यते॥

yadā hi nendriyārtheṣhu na karmasv anuṣhajjate sarva-saṅkalpa-sannyāsī yogārūḍhas tadochyate

When one is no longer attached to sense objects or to actions, having renounced all selfish desires, one is said to have attained yoga.

— Bhagavad Gita 6.4

Source: Sacred-Texts.com (Sanskrit) + Bhagavad-Gita.io (translations)