2.52 If you act in this manner and get freed from impurities, your intellect will pass beyond the tangle of delusion. The dense impurity of sin is the nature of that delusion which generates attachment to infinitesimal results, of which you have already heard much from us and will hear more later on. You will then immediately feel, of your own accord, renunciation or feeling of disgust for them all.

Sri Krsna now teaches the goal called self-realisation (Yoga) which results from the performance of duty as taught in the passage beginning with 'Now, listen to this with regard to Karma Yoga' (2.39) which is based on the knowledge of the real nature of the self gained through the refinement of the mind.