3.20 It is also declared that Karma Yoga alone Janaka and others reached perfection.

Because, Karma Yoga is the best means for securing the vision of the self even for a person who is alified for Jnana Yoga, royal sages like Janaka and others, who are foremost among the Jnanins, preferred Karma Yoga as the means for attaining perfection.

Thus, having first declared previously that Karma Yoga must be practised by an aspirant for release who is alified for Karma Yoga alone, as he is unfit for Jnana Yoga, it was next stated with reasons that, even for one who is alified for Jnana Yoga, Karma Yoga is better than Jnana Yoga Now it is going to be declared (in verses 20-26) that Karma Yoga must be performed in every way by one who is virtuous.

At least for the guidance of the world, you should do work even if there is no need of it for yourself.