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Chapter 6, Verse 4

यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते। सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते।।6.4।।

yadā hi nendriyārtheṣu na karmasvanuṣajjate . sarvasaṅkalpasaṃnyāsī yogārūḍhastadocyate .. 6.4 ..

Word by word

यदा
when
हि
indeed
not
इन्द्रियार्थेषु
in the objects of the senses
nor
कर्मसु
in actions
अनुषज्जते
one attaches / becomes attached
सर्वसङ्कल्पसंन्यासी
one who has renounced all (selfish) resolves/desires
योगारूढः
one who has ascended/attained to yoga
तदा
then
उच्यते
is said (to be)

Commentary

4. When a man, renouncing all thoughts, is not attached to sense-objects and actions, then he is said to have attained to Yoga.

Source: Alladi Mahadeva Sastri, The Bhagavad-Gita with the Commentary of Sri Shankaracharya (1897), public domain

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Sanskrit (in order)

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यदा
हि
इन्द्रियार्थेषु
कर्मसु
अनुषज्जते
सर्वसङ्कल्पसंन्यासी
योगारूढः
तदा
उच्यते

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