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SB 2.2.15

sthiraṁ sukhaṁ cāsanam āsthito yatir
 yadā jihāsur imam aṅga lokam
kāle ca deśe ca mano na sajjayet
 prāṇān niyacchen manasā jitāsuḥ
Synonyms: 
sthiram — without being disturbed; sukham — comfortable; ca — also; āsanam — sitting accommodation; āsthitaḥ — being situated; yatiḥ — the sage; yadā — whenever; jihāsuḥ — desires to give up; imam — this; aṅga — O King; lokam — this body; kāle — in time; ca — and; deśe — in a proper place; ca — also; manaḥ — the mind; na — not; sajjayet — may not be perplexed; prāṇān — the senses; niyacchet — must control; manasā — by the mind; jita-asuḥ — conquering the life air.
Translation: 
O King, whenever the yogī desires to leave this planet of human beings, he should not be perplexed about the proper time or place, but should comfortably sit without being disturbed and, regulating the life air, should control the senses by the mind.
Purport: 

In the Bhagavad-gītā (8.14) it is clearly stated that a person who is totally engaged in the transcendental loving service of the Lord, and who constantly remembers Him at every step, easily obtains the mercy of the Lord by entering into His personal contact. Such devotees do not need to seek an opportune moment to leave the present body. But those who are mixed devotees, alloyed with fruitive action or empirical philosophical speculation, require an opportune moment for quitting this body. For them the opportune moments are stated in the Bhagavad-gītā (8.23-26). But these opportune moments are not as important as one’s being a successful yogī who is able to quit his body as he likes. Such a yogī must be competent to control his senses by the mind. The mind is easily conquered simply by engaging it at the lotus feet of the Lord. Gradually, by such service, all the senses become automatically engaged in the service of the Lord. That is the way of merging into the Supreme Absolute.