Chapter 6 · The Yoga of Meditation · Krishna said
Bhagavad Gita 6.18 — Mind resting in the Self
यदा विनियतं चित्तमात्मन्येवावतिष्ठते। निःस्पृहः सर्वकामेभ्यो युक्त इत्युच्यते तदा ॥
yadā viniyataṃ cittamātmanyevāvatiṣṭhate | niḥspṛhaḥ sarvakāmebhyo yukta ityucyate tadā ||
Meaning
When the disciplined mind rests in the Self alone, free from craving for any desire, then one is said to be established in yoga.