Bhagavadgītā-4comm with the commentaries · Chapter 51

baladevaḥ :
ṣaṣṭhe yoga-vidhiḥ karma-śuddhasya vijitātmanaḥ |
sthairyopāyaś ca manaso 'sthirasyāpīti kīrtyate ||
proktaṃ karma-yogam aṣṭāṅga-yoga-śiraskam upadekṣyann ādau tau tad-upāyatvāt taṃ karma-yogam stauti bhagavān anāśrita iti dvābhyām | karma-phalam paśv-anna-putra-svargādi-kāmanāśrito 'nicchan kāryam avaśya-kartavyatayā vihitaṃ karma yaḥ karoti, sa saṃnyāsī jñāna-yoga-niṣṭhaḥ, yogī cāṣṭāṅga-yoga-niṣṭhaḥ sa eva | karma-yogenaiva tayoḥ siddhir iti bhāvaḥ | na niragnir agnihotrādi-karma-tyāgī yati-veśaḥ sannyāsī na cākriyaḥ śarīra-karma-tyāgī ardha-mudrita-netro yogī | atra yogam aṣṭāṅgaṃ cikīrṣūṇāṃ sahasā karma na tyājyam iti matam

BhG 6.2
yaṃ saṃnyāsam iti prāhur yogaṃ taṃ viddhi pāṇḍava |
na hy asaṃnyasta-saṃkalpo yogī bhavati kaścana