sannyāsas tu mahā-bāho duḥkham āptum ayogataḥ
yoga-yukto munir brahma na chireṇādhigachchhati||6||

Meaning : O Arjuna, renouncing all actions (sannyasa) without the practice of yoga causes suffering and difficulty. But the wise sage who is united with yoga — who performs actions with discipline, meditation, and devotion — attains the supreme reality (Brahman) quickly and surely.