BG 6.18

When the yogī, by practice of yoga, disciplines his mental activities and becomes situated in transcendence – devoid of all material desires – he is said to be well established in yoga.

6.18. When [his] well-controlled mind gets established in nothing but the Self and he is free from craving for any desired object-at that time his is called a master of Yoga.

6.18 When the mind, completely controlled, is centered in the Self, and free from all earthly desires, then is the man truly spiritual.

6.18 Yada etc. The distinguishing mark of this man of Yoga is : Havnig his mind controlled in nothing but the Self, he does not crave at all [for anything].

6.18 When the mind which usually goes after sense enjoyments, abandons such desires and 'rests on the self alone,' i.e., becomes well-settled on account of discerning unsurpassable good in the self alone and rests there alone steadily, without movement - then, being 'free of yearning for all desires,' one is said to be integrated. He is said to be fit for Yoga.

6.18 A yogi, nihsprhah, who has become free from hankering, thirst; sarva-kamhyah, for all desirable objects, seen and unseen; is tada, then; ucyate, said to be; yuktah, Self-absorbed; yada, when; the viniyatam, controlled; cittam, mind, the mind that has been made fully one-pointed by giving up thought of external objects; avatisthate, rests; atmani eva, in the non-dual Self alone, i.e. he gets established in his own Self. An illustration in being given for the mind of that yogi which has become Self-absorbed:

6.18 When the subdued mind rests on the self alone, then, free of all yearning for objects of desire, one is said to be fit for Yoga.

6.18 A man who has become free from hankering for all desirable objects is then said to be Self-absorbed when the controlled mind rests in the Self alone.