Chapter III-7. But whoever controlling the senses by the mind engages, O Arjuna, the organs of action in Karma Yoga. (Selfless Action), without attachment, excels.
The easy path is further elucidated. One must watch the organs of action (the body) performing their functions without any senses of my or mine. One must remain ever vigilant; when the "I" thought arises, it must be discarded as useless. The discipline of remaining in "the now" and letting go all thoughts of outcome, as one continually offers the work to God, requires perseverance. All of the objects of the senses will try to change the focus of concentration with this or that object of desire. The second part of this is to do whatever is at hand and if it becomes blocked, to change action without looking back. There should be no attachment to outcome or results for oneself or anyone else. It is the compassion (feeling with) while doing whatever works that is important.
Chapter V-1. Renunciation of actions, O Krishna, You praise and again Yoga (Karma Yoga). Tell me conclusively that which is better between the two.
An aspirant on the spiritual path is faced with choices in practice. The purpose of a teacher is to show the best way for that individual. A teacher can be helpful only when the student is ready to act on the admonition. There is a divine will for any of us, but often we are so caught up in our little selves that we can't see what to do. All religions have a way to help in such discernment. Priests, rabbis, Imams, gurus, and pastors aid in determining what is better. Quakers use a clearness committee where all sit in the silence and listen intently for God's will in the matter – through shared prayer and questioning God gives the answer through the members.
Chapter V-2. 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.
Here The Blessed Lord talks to a disciple who is engaged in the world and who has before him a clear duty to perform. The path to unity with the Divine through the knowledge of the Self can come while doing the tasks that are before us. The answer to question depends on both the place in the social order and stage of life of the aspirant and the inner spiritual preparation. We can know this answer both with the help of an inner or outer teacher. Through deep prayer God makes the Divine Will known to us.
Chapter V-4. Children, not the wise, speak of Knowledge and the Yoga of Action as though they are distinct and different. Anyone who is truly established in one obtains the fruits of both.
By children, the uneducated or fools is meant. The Wise know that through Knowledge of the Self all desireful actions cease; by offering all actions and fruits to God without attachment, Knowledge of the Self will be achieved.
Chapter V-5. That state which is reached by the Sankyas (Janana Yoga path) is reached by the Yogis (Karma Yoga path). A person who truly sees, sees Knowledge and Yoga (the performance of action) as one.
Satguru Swami Sivanandaji Maharaj has given a six fold path to his disciples; Serve, Love, Give, Purify, Mediate, Realize. Each of us at different moments, under the play of our natures will act in different ways. As we act, we can either watch and aspire for Self knowledge keeping the recollection alive that (the True Inner Self) is doing nothing or work as a Karma Yogis, offering each minute with great devotion to God. Both paths will lead to control of the ego, the obstacle to realization. It is the "I-sense", the sense of personal doership that veils the "essence", the recognition of the Truth, and so binds us. There is a field of mines blocking us – "my needs, my wants, my privileges, my family my country, etc.". Both Sankya and Yoga are mine detectors allowing us to see to the Universal hidden by the particular.