B.G 6.04
यदा हि नेंद्रियार्थेषु न कर्मस्वनुषज्जते। सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते ॥४॥
yadā hi neṁdriyārtheṣu na karmasvanuṣajjate। sarvasaṅkalpasaṁnyāsī yogārūḍhastadocyate ॥4॥
When one does not take pleasure in sense objects, and is not performing actions driven by attachment, and has renounced all determinations driven by desires, then he is said to have ascended to the summit of Yoga.
Gīta Tātparya 6.04
The attachment is overcome by renouncing all determinations driven by desire. This is done by renouncing all actions in the Lord. The expression 'renouncing in the Lord' - is nothing but having the understanding that everything is dependent and controlled by the supreme Lord.
How is one not attached? By renouncing all determinations driven by desire.
"Dedicating all actions to Me" (Gita 3.30)
- is already stated (at Gita 3.30).
"'Renouncing in Me' - is nothing but having the understanding that it is dependent and controlled by Me."
- stated thus as well.
