यदा विनियतं चित्तमात्मन्येवावतिष्ठते ।
निःस्पृहः सर्वकामेभ्यो युक्त इत्युच्यते तदा ।। ६.१८ ।।

yadā viniyataṁ cittam-ātmany-evāvatiṣṭhate |
nispṛhaḥ sarva-kāmebhyo yukta ity-ucyate tadā || 6.18 ||

Desires – the Last Hurdle

The mind, enriched and empowered by the sublimity of moderation, becomes fit to get absorbed into the Self. The only other spiritual embellishment it needs is sublimation of desires. That comes from deep introspection over the futility of desiring and realizing how the luminous Self alone is sufficient to provide all the contentment and fulfillment one looks for from external possessions.

Krishna stresses this point, as part of his exposition on meditation:

When the well-regulated mind spontaneously begins to rest upon the Self, being indifferent to all desires and desirable possessions, then indeed does the practitioner become integrated and fulfilled in yoga-sadhana.

When the mind, treated with moderation as a wholesome discipline and sublimity, freed of the hold of desires and expectations, begins to rest upon itself, the Self, one becomes a Yogi – spiritually integrated. Desires and lack of moderation are the only hindering notes in attaining Self-absorption and Self-vision.