When the perfectly controlled mind rests in the Self only, free from longing for all (objects of) desire, then it is said: he is united (YUKTAH) .

yadā = when; viniyataṃ = particularly disciplined; cittaṃ = the mind and its activities; ātmani = in the transcendence; eva = certainly; avatiṣṭhate = becomes situated; nispṛhaḥ = devoid of desire; sarva = for all kinds of; kāmebhyaḥ = material sense gratification; yuktaḥ = well situated in yoga; iti = thus; ucyate = is said to be; tadā = at that time.;