शारीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम्।।4.21।।
।।4.21।।जिसका शरीर और अन्तःकरण अच्छी तरहसे वशमें किया हुआ है जिसने सब प्रकारके संग्रहका परित्याग कर दिया है ऐसा आशारहित कर्मयोगी केवल शरीरसम्बन्धी कर्म करता हुआ भी पापको प्राप्त नहीं होता।
Here Lord Krishna uses the word nirasir means bereft of expectancy or devoid of all desires for rewards. The words yata-cittatma means to control the mind by the power of the atma or soul, keeping the mind tranquil and equiposed, free from agitation. The words tyakta-sarva-parigrahah means abandoning all cravings for sense objects and sense pleasures. As long as one has life one should perform all actions as a matter of duty merely as a function of their body; in this way there are no reactions to actions and no disease is incurred. One will be free of this. The disease is samsara or repetitive bondage of birth and death in the material existence. If karma yoga or prescribed Vedic activities are performed in this way by those seeking moksa or liberation from samsara this in itself is sufficient enough to lead one to atma tattva or realisation of the soul, eliminating the necessity of having to engage in the intermediate step of performing jnana yoga or the cultivation of Vedic knowledge by strictly controlling the senses and the cessation of actions.