Swami Swarupananda

who sees inaction in action, and action in inaction is intelligent among men, he is a yogi and a doer of all action.
19) Whose undertakings are all devoid of plan and desire for results, and whose actions are burnt by the fire of knowledge, him the sages call wise.
20) Forsaking the clinging to fruits of action, ever satisfied, depending on nothing, though engaged in action, he does not do anything.

Without hope, the body and mind controlled, and all possessions relinquished, he does not suffer any evil consequences, by doing mere bodily action.
22) Content with what comes to him without effort, unaffected by the pairs of opposites, free from envy, even-minded in success and failure, though acting, he is not bound.
23) Devoid of attachment, liberated, with mind centered in knowledge, performing work for yajna alone, his whole karma dissolves away.

As blazing fire reduces wood into ashes, so, O Arjuna, does the fire of knowledge reduce all karma to ashes.
38) Verily there exists nothing in this world purifying like knowledge. In good time, having reached perfection in yoga, one realizes that oneself in one’s own heart.