Chapter VI · Śloka 4
यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते |
सर्वसङ्कल्पसन्न्यासी योगारूढस्तदोच्यते ||
सर्वसङ्कल्पसन्न्यासी योगारूढस्तदोच्यते ||
yadā hi nendriyārtheṣu na karmasv anuṣajjate |
sarva-saṅkalpa-sannyāsī yogārūḍhas tadocyate ||
sarva-saṅkalpa-sannyāsī yogārūḍhas tadocyate ||
When one neither clings to sense objects nor to actions, having renounced all personal resolve, one is then said to have ascended to yoga.
The test of arrival is not an inner state reported to oneself but the observable cessation of clinging — to pleasure, to outcomes, and most subtly, to the idea that one's own plans should shape reality. This is yogārūḍha: seated firmly in yoga.