The yoked one, composed with the thought 'I do actions for the Lord, not for a fruit of mine', having cast off the fruit of action, reaches the peace named liberation, the peace that comes of steadfastness, by the sequence of purification of being, gaining of knowledge, renunciation of all action and steadfastness in knowledge. But the unyoked one, the uncomposed, acting under the impulse of desire, doing action with the thought 'I do this action for a fruit of mine', attached to the fruit, is bound. Therefore become yoked. But the seer of the supreme truth.

The joined man, unwavering toward fruits other than the self, bent on the self alone, having given up the fruit of action and performed action for the mere purification of the self, attains the abiding peace, attains a firm bliss in the form of the experience of the self. The unjoined man, wavering toward fruits other than the self, turned away from the beholding of the self, attached by the working of desire to the fruit, doing actions, is ever bound by his actions, becomes a perpetual transmigrator. So it is said: having given up attachment to fruit, having renounced actions in matter transformed into the form of the senses, one should do actions only for the loosing of the self's bondage. Now the renunciation of agency in matter transformed into the form of the body is told.

This is a brief sub-gloss. For a fuller reading of this verse, see Madhusūdana, Śaṅkara, or Rāmānuja above.

To press the rule about being joined and the rest once more, Krishna states the fruit of the joined and the unjoined, with 'the joined one'. 'Joined' means joined with yoga.