2.48 If action is not to be undertaken by one who is under the impulsion of the fruits of action, how then are they to be undertaken? This is being stated: Yogasthah, by becoming established in Yoga; O Dhanajaya, kuru, undertake; karmani, actions, for the sake of God alone; even there, tyaktva, casting off; sangam, attachment, in the form, 'God will be pleased with me.' ['Undertake work for pleasing God, but not for propitiating Him to become favourable towards yourself.']
Undertake actions bhutva, remaining; samah, eipoised; siddhi-asidhyoh, in success and failure  even in the success characterized by the attainment of Knowledge that arises from the purification of the mind when one performs actions without hankering for the results, and in the failure that arises from its opposite. [Ignorance, arising from the impurity of the mind.] What is that Yoga with regard to being established in which it is said, 'undertake'? This indeed is that: the samatvam, eanimity in success and failure; ucyate, is called; yogah, Yoga.