स तु दीर्घकालनैरन्तर्यसत्कारासेवितो दृढभूमिः ॥

sa tu dīrgha-kāla-nairantarya-satkāra-āsevito dṛḍha-bhūmiḥ

a practice is on solid ground when it is done for a long time. without interruption, done with clarity/devotion and in a spirit of service.

Patañjali Yoga Sūtra 1.14