Established in yoga, perform actions, solely for the Lord, and there too without the thought 'let the Lord be pleased with me', abandoning attachment, O Dhanañjaya. When action is done emptied of craving for the fruit, there is the perfection marked as the attainment of knowledge born of purity of being, and from the opposite there is non-perfection; treating these two, success and failure, as equal, perform actions. And what is that yoga, established in which you are to act? This very thing: the evenness of mind toward success and failure is what is called yoga. As against this action done for the worship of the Lord, joined with the understanding of evenness.

Giving up attachment to kingdom, kinsmen, and the rest, perform actions, war and the like, established in yoga. Become equal toward the success and failure included in them, victory and the rest, and act. This equanimity in success and failure is what the word 'yoga' denotes in 'established in yoga'. Yoga is the settling of the mind in the form of equanimity toward success and failure. Why is this said more than once? To this the Lord speaks.

Krishna clarifies the previous verse with 'established in yoga'. 'Established in yoga' means established in the means. 'Having given up attachment' means having given up fondness for fruit, and just thereby becoming even-minded toward success and failure; and that very evenness is the yoga of which I have spoken.