यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते । सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते ॥ ४ ॥
yadā hi nendriyārtheṣhu na karmasv-anuṣhajjate sarva-saṅkalpa-sannyāsī yogārūḍhas tadochyate
Translation
When one is no longer attached to sense objects or to actions, and has renounced all selfish intentions, then one is said to have reached yoga.
Hindi Meaning (हिंदी अर्थ)
जब पुरुष न इंद्रियों के भोगों में और न कर्मों में आसक्त होता है, तब सब संकल्पों का त्यागी वह पुरुष योगारूढ़ कहा जाता है।
Commentary
The marks of the yogārūḍha: no clinging to sense pleasures, no clinging to action itself, and no self-centred planning. Such a person still acts, but freely.