Assume that $G$ is a semi-simple linear algebraic group defined over $\mathbb{Q}$, which is $\mathbb{Q}$-simple, and that $G(\mathbb(R)$ is non-compact, without $\mathbb{R}$-factors of rank 1. Then by Margulis's works, the arithmetic subgroups of $G(\mathbb{R})$ are the same as discrete lattice in $G(\mathbb{R})$. Here a lattice is a discrete subgroup $\Gamma$ such that the quotient $\Gamma\backslash G(\mathbb{R})$ is of finite volume with respect to the measure deduced from the left Haar measure. In particular, an arithmetic subgroup in $G(\mathbb{R})$ is Zariski dense in $G_\mathbb{R}$.

Conversely, a discrete subgroup $\Gamma$ in $G(\mathbb{R})$ is given, such that $\Gamma$ is also dense in $G_\mathbb{R}$ for the Zariski topology, what condition should one impose to make it arithmetic? Shall I assume $\Gamma$ to be finitely generated, or stable under certain actions such as $Aut(\mathbb{R/Q})$? I feel that such kind of results are more or less available in the literature, bu I'm far from an expert in this field.

Many thanks!