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A person who is happy within self and enjoys the delight of the soul, such a yoga (sankhyayoga) identifed with brahma attains brahma. Having known me in reality as the enjoyer of all sacrifices and austerities and as the supreme lord of all the worlds and the selfless friend of all beings, my devotee attains peace.

Shri Krishna, Chapter 5, #5.6

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The pleasures which are born of sense - contacts are verily a source of suffering only though appearing as enjoyable to worldly - minded people. They have a beginning and an end, they come and go. It is for this reason that a wise man does not indulge in them.

Shri Krishna, Chapter 5, #5.5

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Offering the fruit of actions to god, the karamayogi attains everlasting peace in the form of god-realisation whereas he who works with a selfish motive being attached to the fruit of actions through desire gets tied down.

Shri Krishna, Chapter 5, #5.4

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However, the sankhyayogi who knows the reality of things must believe that he does nothing even though seeing, hearing, touching, smelling, eating, drinking, walking, sleeping, breathing, speaking, grasping and opening-closing the eyes, holding that it is the senses alone that are moving among their objects.

Shri Krishna, Chapter 5, #5.3

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The karmayogi who has fully conquered his mind and mastered his senses, whose heart is pure and who has identified himself with the self of all beings (viz. god) remains untainted even though performing action.

Shri Krishna, Chapter 5, #5.2

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The yoga of knowledge and the yoga of action both lead to supreme bliss. Of the two, however, the yoga of action being easier to practice is superior to the yoga of knowledge. The supreme state which is reached by the sankhyayoga is also attained by the karamayoga.

Shri Krishna, Chapter 5, #5.1

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Therefore Arjuna, slashing to pieces with the sword of knowledge this doubt in your heart born of ignorance and establish yourself in Karmayoga in the shape of even-mindedness and stand up for the fight.

Shri Krishna, Chapter 4, #4.6

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In this world there is no purifier as great as knowledge; he who has attained purity of heart through prolonged practice of Karmayoga automatically sees the light of truth in the self in course of time.

Shri Krishna, Chapter 4, #4.5