Srimad Bhagavad Gita -Ramanujacharya 144

Srimad Bhagavad Gita -Ramanujacharya

Chapter-4 Jñāna Vibhāga Yogaḥ

Again, works of the nature of wisdom is examined:— nirāśīr yatacitt-ātmā tyakta sarva parigrahaḥ | śarīraṃ kevalaṃ karma kurvan-nāpnoti kilbiṣam || 21 || 21. Free from expectation, with the mind controlled, relinquishing all notions of possessiveness, and merely doing physical activity, one does not incur blame. Commentary 'Free from expectation' — means having no expectation of the rewards of actions. "relinquishing all notions of possessiveness" — one whose primary focus is the ātman is free from the sense of ownership in relation to Material Nature and any of its derivatives. One who is thus engaged in physical activity alone, as long as he lives, 'does not incur any blame (kilbiṣa)' — i.e., does not get entangled in Samsāra. He attains Self-realisation through this practice of Karma Yoga and need not resort to any exclusive practice of meditation.