Gita Madhurya -Swami Ramsukhdas
In the beginning of the fifth chapter Arjuna asked Lord Krsna which of the two, the Discipline of Knowledge or Discipline of Disinterested Action, is better. Lord Krsna replied, "Both of them lead to supreme bliss but Yoga of action is superior to Yoga of knowledge ."
Lord Krsna described upto the twenty-sixth verse of the fifth chapter how they lead to supreme bliss. Then He described the Discipline of Meditation in two verses which is helpful in the Discipline of Knowledge as well as Action and also leads to supreme bliss independently. Then He concluded the fifth chapter by announcing, "Having known Me the Supreme Lord of all the worlds, My devotee attains peace."
Now Lord Krsna in the sixth chapter again explains the superiority of the Discipline of Disinterested Action.
References and Context