That which they call renunciation (sannyāsa), know that to be discipline (yoga), O son of Pandu (Pāṇḍava). For without renouncing selfish purpose (saṅkalpa), no one becomes a disciplined one (yogī).
Know that discipline, Arjuna, is what men call renunciation; no man is disciplined without renouncing willful intent.
(2) What men call renunciation is also spiritual exercise (yoga); you must know this. For without renouncing [all set] purpose no one can engage in spiritual exercise.
6.2 That which they call monasticism, know that to be Yoga, O Pāṇḍava, For, nobody who has not given up expectations can be a yogi.
6.2 That which is called Sannyāsa (Jñāna Yoga), know that to be Yoga (Karma Yoga), O Arjuna. For (among Karma Yogins) no one whose delusive identification of the body with the self is not abandoned, becomes a true Karma Yogin.
6.2 Do thou, O Arjuna, know Yoga to be that which they call renunciation; no one verily becomes a Yogi who has not renounced thoughts.