For the sage who desires to ascend in Yoga, action is stated to be the means. For him who has ascended in Yoga, serenity (shama) is said to be the means. (6.3)
When he does not cling to the sense objects or to the deeds and has renounced all desires, then he is called "one who has ascended in yoga." (6.4)
~ Bhagavad Gita
Commit to your inner-yukta-ness.