(yoktavyaḥ)–Such yoga must be practised; tyaktvā–giving up; sarvān kāmān–all desires; saṅkalpa-prabhavān–born of the thoughts; aśeṣataḥ–completely (including all impressions); manasā eva–and by the mind (with the vision of the futility of mundane enjoyment); viniyamya–withdrawing; indriya-grāmam–the group of senses; samantataḥ–from all material objects. [24]

To practise yoga one must abandon all thoughts that give rise to desires, and using the mind, withdraw the senses from all material objects.