Bhagavad Gītā Chapter Six verse 23

taṃ vidyād duḥkhasaṃyogaviyogaṃ yogasaṃjñitam |
sa niścayena yoktavyo yogo ’nirviṇṇacetasā ||

duḥkha - suffering, pain, sorrowfulsaṃyoga - conjunctionyoga - the act of yoking, joining, attaching, harnessing; a yoke, team, vehicle, conveyance; employment, use, application, performance; a means, expedient, device, way, manner, methodviyoga - unyoking, separation