Transliteration
yoga-saṃnyasta karmāṇaṃ jñāna saṃcchinna saṃśayam |
ātmavantaṃ na karmāṇi nibadhnanti dhanañjaya || 41 ||
Translation
Therefore, one who has renounced the fruits of his action, whose doubts are destroyed by transcendental knowledge, and who is situated firmly in the self, is not bound by works, O conqueror of riches.
Purport
In these two chapters, Bhagvan Shri Krishna explained separately the glory of selfless Karma, Knowledge, and self-realization.
These three [aths appear separate but in reality, in the path of enlightenment karma, the knowledge and self-realization come together at some point in time and support each other. One who stats from the path of Karma realizes self and through realization he attains knowledge. One who starts with the path of knowledge knows the truth and then loses the attachment with the fruits of actions. One who starts with the path tapas that is yoga and meditation again attains self-realization and then gets detached from the fruits.
In above Shloka Bhagvan Shri Krishna mentions all three and explained one who engages in his duty with clarity and with mind fixed on God get liberated from all bonds.
