Meaning
Supreme God Krishna spoke
One is said to have firmly stabilized in the {Meditative} Yoga {experiencing the union of the soul with the Supreme Spirit God} when he is not drawn anymore to hedonistic pleasures and worldly acts and has forsaken all temporal resolves. (6:4)
Sanskrit
श्रीभगवान् उवाच
यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते ।
सर्वसङ्कल्पसन्न्यासी योगारूढस्तदोच्यते॥
Word-by-word
यदा हि न इन्द्रिय-अर्थेषु, न कर्मसु अनु-षज्जते,
सर्व-सङ्कल्प-सन्न्यासी, योग-आरूढः तदा उच्यते।