Bhagavad Gita: Chapter 6, Verse 18

यदा विनियतं चित्तमात्मन्येवावतिष्ठते |
नि:स्पृह: सर्वकामेभ्यो युक्त इत्युच्यते तदा || 18||

yadā viniyataṁ chittam ātmanyevāvatiṣhṭhate
niḥspṛihaḥ sarva-kāmebhyo yukta ityuchyate tadā

yadā—when; viniyatam—fully controlled; chittam—the mind; ātmani—of the self; eva—certainly; avatiṣhṭhate—stays; nispṛihaḥ—free from cravings; sarva—all; kāmebhyaḥ—for yearning of the senses; yuktaḥ—situated in perfect Yog; iti—thus; uchyate—is said; tadā—then

yada viniyatam chittam atmanyevavatishthate
nihsprihah sarva-kamebhyo yukta ityuchyate tada

Translation

BG 6.18: With thorough discipline, they learn to withdraw the mind from selfish cravings and rivet it on the unsurpassable good of the self. Such persons are said to be in Yog, and are free from all yearning of the senses.

Commentary

When does a person complete the practice of Yog? The answer is when the controlled chitta (mind) becomes fixed and focused exclusively on God. It is then simultaneously and automatically weaned away from all cravings of the senses and desires for worldly enjoyment. At that time one can be considered as yukt, or having perfect Yog. At the end of this very chapter, he also states: “Of all yogis, those whose minds are always absorbed in me, and who engage in devotion to me with great faith, them I consider to be the highest of all.” (Verse 6.47)