The Yoga of Action

Krishna introduces a profound exception: the self-realized (ātma-rati, ātma-tṛpta, santuṣṭa) have no binding duty because they've transcended reciprocity—they see no separation between self and others. They ARE the cycle, not separate from it. This isn't laziness; it describes beings who serve naturally without needing rules. Here's the twist: even they continue acting for welfare of all (lok-sangraha), not from duty but because their actions guide others. Inner freedom enables purer service, not withdrawal.