यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते। सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते ॥

yadā hi nendriyārtheṣhu na karmasv-anuṣhajjate sarva-saṅkalpa-sannyāsī yogārūḍhas tadochyate

When a man feeleth no attachment either for the objects of sense or for actions, renouncing the formative will, then, he is said to be enthroned in yoga.

In plain words: Krishna says a person is settled in yoga when they no longer cling to pleasures or to their actions. They have given up their selfish plans and wants.