Through action one acquires knowledge. The guru instructs the disciple to perform certain works and refrain from others. Again, he advises the pupil to perform action without desiring the result.
Householders engage in philanthropic work, such as charity, mostly with a motive.
That is not good. God alone does that - He who has created the sun and the moon, who has put love for their children in parents' hearts, endowed noble souls with compassion, and holy men and devotees with divine love. Then, through His grace, one realizes Him in course of time. God can be seen. Always try to perform your duties without desiring any result.