In the beginning of the fifth chapter, Arjuna asked Lord Krsna, which of the two, the Discipline of Knowledge or the Discipline of Disinterested Action, is better. Lord Krsna replied, "Both of them lead to supreme bliss, but Yoga of action is superior to the Yoga of knowledge (5/2)."
Lord Krsna described, upto the twenty-sixth verse of the fifth chapter, how these lead to supreme bliss. Then, He described in brief the Discipline of Meditation, in two verses, which is helpful in the Discipline of Knowledge as well as Action and it leads to supreme bliss, independently. Then, He concluded the fifth chapter, by explaining the glory of devotion towards Him out of His own will. Lord Krsna in the sixth chapter further explains, the superiority of the Discipline of Disinterested Action.
anasritah karmaphalam karyam karma karoti yah
sa sannyasi ca yogi ca na niragnirna cakriyah
The Blessed Lord said:-
He who undertakes action without desiring its fruit, is both a Sannyasi (Sankhyayogi) and a Yogi (Karmayogi). He is not a Sannyast (renouncer), one who has merely renounced the sacred tire (ritual) and is not a KarmayogI, who has merely stopped all actions.1
Anasritab karmaphalam:—Lord Krsna, appears to say, that a man should not depend on men, things, incidents, circumstances and actions etc., because they are all perishable and kaleidoscopic, and he himself, being a fragment of God, is imperishable and constant. So, how can the perishable, satisfy the imperishable? Man thus feels a void. Moreover, he gets attached to them and that attachment is the cause of his bush in good and evil bodies (Gita 13/21). If he renounces this attachment, he may realize emancipation which is axiomatic. In fact, he is naturally emancipated. But, it is because of attachment that he cannot realize this emancipation. Therefore the Lord declares, that a person should discharge his duty for duty's sake, without having any attachment to the fruit of action. Abandoning the fruit of action, a Yogi attains peace in the form of God-realization; whereas, he who works with a selfish motive, being attached to the fruit of action, is bound (GIta 5/12).
A man, without depending on anyone of the three bodies—physical, subtle and causal, which are the fruits of actions, should use them in the welfare of all beings. He should, render selfless service to others, with the physical body, think of the welfare and salvation of others with the subtle-body, and offer stability (trance) acquired through the causal body, for the welfare of the world. These bodies belong to the world, not to us and so, they are for the service of the world, not for us. They have their identity with the world, while they are distinct from the self. Not to depend on these bodies means, 'not to expect the fruit of action', and to work for the welfare of the world means, 'to discharge one's duty'. One who, discharges one's duty for duty's sake, without expecting its fruit viz., serves the world, with worldly things. Being a Karmayogi, is extolled as a Sannyasi in this verse, and one who renounces mineness from the worldly mings, is a Tyagi i.e., Yogi.