Bhagavad Gita: Place of Unsuccessful Yogi (Dhyana-yoga,Text 41 Chapter 6)

sri-bhagavan uvaca

prapya punya-krtam lokan
usitva sasvatih samah
sucinam srimatam gehe
yoga-bhrasto ' bhijayate

(Dhyana-yoga, Text 41 Chapter 6)

Meaning:

The unsuccessful yogi, after many, many years of enjoyment on the planets of the pious living entities, is born into a family of righteous people or into a family of rich aristocracy.

Bhagavad Gita:  Place of Unsuccessful Yogi , Dhyana-yoga,Text 41 Chapter 6