When the perfectly controlled mind becomes established in the Self alone, free from all desires — then one is said to be united (yukta).

Definition of the yukta yogi (united): citta viniyata (completely controlled mind) established ātmani (in one’s own Self), niḥspṛhaḥ (free from desire) toward sarva-kāma (all pleasures).

Meditation is not escapism, but establishing the mind in its source. Kāma (desire) is here understood broadly: not only sensual desires, but any longing that disperses the mind.