Chapter 6 · The Yoga of Meditation · Krishna said
Bhagavad Gita 6.2 — Renunciation is yoga
यं संन्यासमिति प्राहुर्योगं तं विद्धि पाण्डव। न ह्यसंन्यस्तसङ्कल्पो योगी भवति कश्चन ॥
yaṃ saṃnyāsamiti prāhuryogaṃ taṃ viddhi pāṇḍava | na hyasaṃnyastasaṅkalpo yogī bhavati kaścana ||
Meaning
What people call renunciation, know that to be yoga, Arjuna. No one becomes a yogi without giving up selfish intentions (sankalpa).