When the controlled mind, is established in the self (ātman) alone, Free from longing for all desires (kāmebhyaḥ), then he is said to be disciplined (yukta).
When his controlled thought rests within the self alone, without craving objects of desire, he is said to be disciplined.
(18) When thought, held well in check, is stilled in self alone, then is a man from longing freed though all desires assail him; then do men call him 'integrated'.
6.18 A man who has become free from hankering for all desirable objects is then said to be Self-absorbed when the controlled mind rests in the Self alone.
6.18 When the subdued mind rests on the self alone, then, free of all yearning for objects of desire, one is said to be fit for Yoga.
6.18 When the perfectly controlled mind rests in the Self only, free from longing for all the objects of desires, then it is said, 'He is united'.