Bhagavad Gita 6.4

यदा हि नेन्द्रियार्थेषु न कर्मस्वानुशज्जते |
सर्वसंकल्पसंन्यासी योगरूढ़ास्तदोच्यते

Translation

When one is neither attached to sense objects nor to actions, such a person is said to be elevated in the science of Yog, having renounced all desires for the fruits of actions.