Those pleasures that are born in connection with the sense-objects give rise to misery. They have a beginning and an end. Therefore, O son of Kunti, a wise man finds no satisfaction in the senses and sense-objects.
Bhagavad Gita - Chapter 5 - Karma-Sannyasa Yoga - The Yoga of the Renunciation of Action
Before giving up this present body, if one is able to control the senses and the impulses that arise from lust and anger, one becomes self-satisfied. Such a person is a true yogi.
One who finds happiness and bliss within and who is enlightened within is a perfect yogi. He attains the transcendental platform and achieves liberation.
Yogis who are free from vice, self-controlled, whose doubts have been removed and who are engaged in welfare work for all living beings, attain liberation in the Supreme.
Those sannyasis who constantly endeavor for perfection, who have controlled their minds, who are self-realized and who are free from lust and anger, soon achieve liberation in the Supreme.
The yogi who shuts out the external sense-objects and fixes his concentration between the eyebrows, stabilizing the inward and outward breaths that flow through the nostrils and thus controls the senses, the mind and intelligence, is dedicated to the attainment of liberation. He is never bound by desires stemming from lust, fear and anger and is certainly always liberated.
One attains peace by knowing Me to be the original enjoyer of all sacrifices and austerities, the Supreme Controller of all the planets, and the benefactor and friend of all living beings.