यं संन्यासमिति प्राहुर्योगं तं विद्धि पाण्डव। न ह्यसंन्यस्तसङ्कल्पो योगी भवति कश्चन ॥

yaṁ sannyāsam iti prāhur yogaṁ taṁ viddhi pāṇḍava na hyasannyasta-saṅkalpo yogī bhavati kaśhchana

That which is called renunciation, know thou that as yoga, O Pândava; nor doth any one become a Yogî with the formative will unrenounced.

In plain words: Krishna tells Arjuna (called Pandava, son of Pandu) that giving things up and yoga are really the same. No one becomes a true yogi without giving up their selfish plans and wants.