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Mentally offering all actions to me, holding me as the highest, relying on the yoga of understanding, keep your mind always on me.

Krishna now speaks directly to Arjuna. Mentally offering all actions to him, regarding him as the highest goal, and relying on the yoga of understanding (buddhi-yoga), Arjuna should keep his mind fixed on Krishna at all times. This is a summary of the Gita's practical teaching in one instruction. Action continues, but it is inwardly dedicated, guided by clear understanding, and centred on the divine.