Bhagavad Gita: Chapter 6/Verse 3

आरुरुक्षोर्मुनेर्योगं कर्म कारणमुच्यते ।

योगारूढस्य तस्यैव शमः कारणमुच्यते ॥६- ३॥

ārurukṣormuneryogaṃ karma kāraṇamucyate ।
yogārūḍhasya tasyaiva śamaḥ kāraṇamucyate ॥6- 3॥

Of the sage desirous to ascend, action is said to be the yogic instrument. Indeed, of that ascended yoga, tranquility is said to be the instrument. 

ārurukṣos (masculine, genitive, singular) = of the desire to ascend 

munes (masculine, genitive, singular) = of the sage 

yogam (adjective, masculine, accusative, singular) = yoga 

karma (neuter, nominative, singular) = action 

kāraṇam (neuter, accusative, singular) = instrument

ucyate (present tense, passive, 3rd person, singular) = it is said 

yogārūḍhasya (yoga + ārūḍhasya) (compound) (masculine, genitive, singular) = of the ascended yoga

tasya (pronoun, 3rd person, masculine, genitive, singular) = of that 

eva (adverb) (indeclinable) = indeed 

śamas (masculine, nominative, singular) = tranquility 

kāraṇam (neuter, accusative, singular) = instrument

ucyate (present tense, passive, 3rd person, singular) = it is said