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.
A knower of Brahman, who is established in Brahman, should have his intellect steady and should not be deluded. He should not get delighted by getting what is desirable, nor become dejected by getting what is undesirable.OPEN VERSE
With his heart unattached to external objects, he gets the bliss that is in the Self. With his heart absorbed in meditation on Brahman, he acquires undecaying Bliss.OPEN VERSE
Since enjoyments that result from contact (with objects) are verily the sources of sorrow and have a beginning and an end, (therefore) O son of Kunti, the wise one does not delight in them.OPEN VERSE
One who can withstand here itself-before departing from the body-the impulse arising from desire and anger, that man is a yogi; he is happy.OPEN VERSE
One who is happy within, whose pleasure is within, and who has his light only within, that yogi, having become Brahman, attains absorption in Brahman.OPEN VERSE
The seers whose sins have been attenuated, who are freed from doubt, whose organs are under control, who are engaged in doing good to all beings, attain absorption in Brahman.OPEN VERSE