Srimad Bhagavad Gita -Ramanujacharya
Chapter-5 Karma Sanyāsa Yogaḥ
bhoktāraṃ yajñā tapasāṃ sarva loka maheśvaram |
The gist is that knowing Me as the Supreme Lord of all the worlds and the 'friend' of all, and considering all works as service (kainkarya) to Me, one gladly engages oneself, because all creatures indeed strive to please a friend.
iti śrīmad bhagavadgītāsupaniṣatsu brahma-vidyāyāṃ yogaśāstre śrīkṛṣṇārjuna saṃvāde karma-sanyāsa yogo nāma pañcamo’dhyāyaḥ
Thus in the Upanishads of the Glorious Bhagavad Gita The science of the Eternal, the Scripture of Yoga The dialogue between Sri Krishna and Arjuna Ends the fifth discourse entitled“Communion through Renunciation”