Bhagavad Gita Verse 6.42

अथवा वैराग्यवान् पुरुष उन लोकोंमें न जाकर ज्ञानवान् योगियोंके ही कुलमें जन्म लेता है । परन्तु इस प्रकारका जो यह जन्म है, सो संसारमें निःसन्देह अत्यन्त दुर्लभ है|

Dear Arjuna, if he does not take birth in a noble family of good conduct, then he will be born into a family of wise yogis.Such a birth in the world is difficult to find and can only be achieved if your actions are pious, good-natured and unsinful.