प्रलपन्विसृजन्गृह्णन्नुन्मिषन्निमिषन्नपि।इन्द्रियाणीन्द्रियार्थेषु वर्तन्त इति धारयन् ॥

Teachers usually read this idea across several verses together, one shared reflection covers the whole unit.

• 5.1Arjuna said, "O Krishna, you praise renunciation of actions and also yoga. Please tell me conclusively which is better of the two."
• 5.2The Blessed Lord said, "Renunciation and the Yoga of action both lead to the highest bliss; but of the two, the Yoga of action is superior to the renunciation of action."
• 5.3He should be known as a perpetual Sannyasi who neither hates nor desires; for, free from the pairs of opposites, O mighty-armed Arjuna, he is easily freed from bondage.
• 5.4Children, not the wise, speak of knowledge and the Yoga of action, or the performance of action, as though they are distinct and different; he who is truly established in one, obtains the fruits of both.
• 5.5That place which is reached by the Sankhyas or the Jnanis is also reached by the Yogis (Karma Yogis). He who sees knowledge and the performance of action (Karma Yoga) as one, sees truly.
• 5.6But, O mighty-armed Arjuna, renunciation is hard to attain without Yoga; the sage who is in harmony with Yoga quickly goes to Brahman.
• 5.7He who is devoted to the path of action, whose mind is pure, who has conquered the self, who has subdued his senses, and who realizes his Self as the Self in all beings, though acting, is not tainted.
• 5.8I do nothing at all," thus would the harmonized knower of Truth think, seeing, hearing, touching, smelling, eating, going, sleeping, and breathing.

• 5.9Speaking, letting go, seizing, opening, and closing the eyes, one should be convinced that the senses move among the sense-objects.

• 5.10He who does actions, offering them to Brahman and abandoning attachment, is not tainted by sin, just as a lotus leaf is not tainted by water.
• 5.11Yogis, having abandoned attachment, perform actions only through the body, mind, intellect, and even the senses, for the purification of the self.
• 5.12The one who is united (the well-poised or harmonized) having abandoned the fruit of action attains eternal peace; whereas the one who is not united (the unsteady or unbalanced), impelled by desire and attached to the fruit, is bound.

pralapan

by talking

visṛjan

by giving up

gṛhṇan

by accepting

unmiṣan

opening

nimiṣan

closing

api

in spite of

indriyāṇi

the senses

indriya-artheṣu

in sense gratification

vartante

let them be so engaged

iti

thus

dhārayan

considering.