One verse

Bhagavad Gita 6.41

6.41

प्राप्य पुण्यकृतां लोकानुषित्वा शाश्वतीः समाः | शुचीनां श्रीमतां गेहे योगभ्रष्टोऽभिजायते ||६-४१||

prāpya puṇyakṛtāṃ lokānuṣitvā śāśvatīḥ samāḥ . śucīnāṃ śrīmatāṃ gehe yogabhraṣṭo.abhijāyate ||6-41||

prāpya
after achieving
puṇya-kṛtām
of those who performed pious activities
lokān
planets
uṣitvā
after dwelling
śāśvatīḥ
many
samāḥ
years
śucīnām
of the pious
śrī-matām
of the prosperous
gehe
in the house
yoga-bhraṣṭaḥ
one who has fallen from the path of self-realization
abhijāyate
takes his birth

The unsuccessful yogī, 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.