Srimad Bhagavad Gita -Ramanujacharya 192

Srimad Bhagavad Gita -Ramanujacharya

Chapter-6 Dhyāna Yogaḥ

When does one succeed in Yoga? Sri Krishna replies:— yadā hi nendriyārtheṣu na karmasv-anuṣajjate | sarva saṅkalpa saṃnyāsī yogārūḍhas-tad-ocyate || 4 || 4. When one loses all attachment for the sense-objects and to works, then one indeed has abandoned all desires and is considered to have reached the heights of Yoga. Commentary The ultimate stage of Yoga has been reached when the spiritual practitioner, because of a natural disposition to experience the Self, loses attachment to sense-objects and 'things other than the ātman', as well as activities associated with them. Therefore, for one who wishes to succeed in Yoga, but is still disposed to sense-gratification, Karma Yoga, consisting of the [constant] practice of detachment to these objects, becomes the means for success in Yoga.