Bhagavad Gita 7.11
balaṁ balavatāṁ cāhaṁ
kāma-rāga-vivarjitam
dharmāviruddho bhūteṣu
kāmo ’smi bharatarṣabha
In the strong, I am their strength divine,
Unstained by lust’s crooked design.
I am desire that’s pure and true,
In line with dharma, through and through.
My dear Lord, you want me to have an overall positive vision of desire, for you declare that you are the desire that throbs in my heart and drives me to do worthwhile and wonderful things. It was, after all, the desire to be the best archer that enabled Arjuna to do extraordinary service for your cause.
Bless me, O merciful Lord, to ensure that my desires and ambitions are always guided and guarded by dharma. When my desire is guided by dharma, then the power of desire propels me toward what is desirable—be it for utilizing the gifts you have given me, for discharging my responsibilities in the roles you have ordained for me, and ultimately for savoring and sharing your unlimited glories in a mood of devotional celebration. And when my desire is guarded by dharma, then that protection ensures the power of desire does not drag me—either unwittingly or unwillingly—in directions that are deluding or degrading.
Grant me, O all-attractive Lord, a divinely cyclic vision of desire, wherein I see it as a gift that comes from you and a power that drives me to you, the supremely desirable reality.
***
07.11 I am the strength of the strong, devoid of passion and desire. I am sex life which is not contrary to religious principles, O lord of the Bhāratas [Arjuna].

Desire has no DHARMA