Therefore, resort to Karma-yoga and cut the ignorance-born doubt abiding in your heart by the sword of Self-knowledge, and get up (to fight), O Arjuna.

Sever the ignorant doubt in your heart with the sword of self-knowledge. Observe your discipline. Arise.

A person is said to have achieved yoga, the union with the Self, when the perfectly disciplined mind gets freedom from all desires, and becomes absorbed in the Self alone.

In Karma-yoga no effort is ever lost, and there is no harm. Even a little practice of this discipline protects one from great fear [of birth and death].

The state of severance of union with sorrow is known by the name of yoga.

Yoga is difficult for the one whose mind is not subdued.