We demonstrate the formation of a condensate in a dark state of momentum states, in a pumped and shaken cavity-BEC system. The system consists of an ultracold quantum gas in a high-finesse cavity, which is pumped transversely by a phase-modulated laser. This phase-modulated pumping couples the atomic ground state to a superposition of excited momentum states, which decouples from the cavity field. We demonstrate how to achieve condensation in this state, supported by time-of-flight and photon emission measurements. With this, we show that the dark state concept provides a general approach to efficiently prepare complex many-body states in an open quantum system.