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.
To the monks who have control over their internal organ, who are free from desire and anger, who have known the Self, there is absorption in Brahman either way.OPEN VERSE
Keeping the external objects outside, the eyes at the juncture of the eye-brows, and making equal the outgoing and incoming breaths that move through the nostrils, the contemplative who has control over his organs, mind and intellect should be fully intent on Liberation and free from desire, fear and anger. He who is ever is verily free.OPEN VERSE
One attains Peace by knowing Me who, as the great Lord of all the worlds, am the enjoyer of sacrifices and austerities, (and) who am the friend of all creatures.OPEN VERSE