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Bhagavad Gita Chapter 3 Verse 19

भगवद् गीता अध्याय 3 श्लोक 19

तस्मादसक्तः सततं कार्यं कर्म समाचर।
असक्तो ह्याचरन्कर्म परमाप्नोति पूरुषः।।3.19।।

हिंदी अनुवाद - स्वामी तेजोमयानंद

।।3.19।। इसलिए तुम अनासक्त होकर सदैव कर्तव्य कर्म का सम्यक् आचरण करो क्योकि अनासक्त पुरुष कर्म करता हुआ परमात्मा को प्राप्त होता है।।

Brahma Vaishnava Sampradaya - Commentary

Only one situated in the state of atma-tattva or soul realisation is not required to perform activities prescribed in the Vedic scriptures. So Lord Krishna is indicating to Arjuna that since he is not established in this state he should perform actions as a matter of duty. Now begins the summation. For all those who have not achieved atma-tattva and are not situated in moksa or liberation, the performance of prescribed actions of the Vedic scriptures is mandatory according to qualification. Therefore the need for desireless, unattached actions is necessary. For those who are attached performance of actions exclusively to please the Supreme Lord are the best. Arjuna had not attained moksa at that time; but he and his brothers the Pandavas were certainly well endowed in wisdom being knowledgeable of the path to atma-tattva and were dedicated to pleasing the Supreme Lord and following all the injunctions and prohibitions of the Vedic scriptures. The differences in consciousness between the righteous Pandavas and the liberated ones was not that big; but the Pandavas still needed to perform actions while the liberated ones had no actions to perform.