Bhagavad Gita · 7.1

श्रीभगवानुवाचमय्यासक्तमनाः पार्थ योगं युञ्जन्मदाश्रयः।असंशयं समग्रं मां यथा ज्ञास्यसि तच्छृणु॥

śhrī bhagavān uvācha mayy āsakta-manāḥ pārtha yogaṁ yuñjan mad-āśhrayaḥ asaṁśhayaṁ samagraṁ māṁ yathā jñāsyasi tach chhṛṇu

The Supreme Lord said: O Partha, hear how you shall know Me completely, without doubt, by practicing yoga with your mind attached to Me and taking refuge in Me.

— Bhagavad Gita 7.1

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