Transliteration
yas tv atma-ratir eva syad atma-trptas ca manavah
atmany eva ca santustas tasya karyam na vidyate
Translation
One who is, however, taking pleasure in the self, who is illuminated in the self, who rejoices in and is satisfied with the self only, fully satiated--for him there is no duty.
Purport
In earlier Shloka Bhagvan Shri Krishna explained that Vedas/Scriptures are the source for the human to decide his course of actions and duties. Following the prescribed duty a human can spent this human life in peace and harmony and got liberated after this life or ascends to higher births.
But there are some other humans, who get enlightened. They are able to realize their soul. They situated into their consciousness. Such people then are free from the worldly duties, as after attaining the soul, nothing remains to achieve further. Once a human attains his soul he automatically achieves the supreme and got liberated.
