The fifth chapter of the Bhagavad Gita is Karma Sanyasa Yoga. In this chapter, Krishna compares the paths of renunciation in actions (Karma Sanyas) and actions with detachment (Karma Yoga) and explains that both are means to reach the same goal and we can choose either. A wise person should perform his/her worldly duties without attachment to the fruits of his/her actions and dedicate them to God. This way they remain unaffected by sin and eventually attain liberation.
Arjuna said: O Krsna, You praise renunciation of actions, and again, (Karma-) yoga. Tell me for certain that one which is better between these two.OPEN VERSE
The Blessed Lord said: Both renunciation of actions and Karma-yoga lead to Liberation. Between the two, Karma-yoga, however, excels over renunciation of actions.OPEN VERSE
He who does not hate and does not crave should be known as a man of constant renunciation.OPEN VERSE
The fools, not the learned ones, speak of Sankhya (the path of Knowledge) and (Karma-) yoga as different. Anyone who properly resorts to even one (of them) gets the result of both.OPEN VERSE
The State [Sthana (State) is used in the derivative sense of 'the place in which one remains established, and from which one does not become relegated'.] that is reached by the Sankhyas, that is reached by the yogis as well. He sees who sees Sankhya and yoga as one.OPEN VERSE