But, true renunciation, O Arjuna, is difficult to attain without KarmaYoga. A sage equipped with KarmaYoga quickly attains Nirvana. A KarmaYogi, whose mind is pure, whose mind and senses are under control, and who sees one and the same Spirit in all beings, is not bound by Karma though engaged in work. Senses need not be subdued if the activities of the senses are spiritualized by perceiving that all work, good or bad, is done by the powers of God. A KarmaYogi does not work with selfish motives and therefore does not incur any sin.
Selfless service is always sinless.
Selfishness is the mother of sin. One becomes happy, peaceful, purified, and enlightened by performing one's prescribed duties as an offering to God and remaining detached inwardly. The KarmaYogis perform action without selfish attachment with their body, mind, intellect, and senses only for the purification of their mind and intellect. A person, who has completely renounced the fruits of all works, dwells happily in the City of Nine Gates, neither performing nor directing action. The Lord neither creates the urge for action, nor the feeling of doership, nor the attachment to the results of action in people.