Werset 2.502.12.22.32.42.52.62.72.82.92.102.112.122.132.142.152.162.172.182.192.202.212.222.232.242.252.262.272.282.292.302.312.322.332.342.352.362.372.382.392.402.412.422.432.442.452.462.472.482.492.502.512.522.532.542.552.562.572.582.592.602.612.622.632.642.652.662.672.682.692.702.712.72

Endowed with wisdom (evenness of mind), one casts off in this life both good and evil deeds; therefore, devote thyself to Yoga; Yoga is skill in action.

One joined with understanding leaves behind both good and bad deeds even here. Therefore devote yourself to yoga; yoga is skill in action.

One joined with understanding leaves behind both good and bad deeds in this very life, meaning that action no longer binds such a person, whether it earns merit or fault. Then comes a famous definition: yoga is skill in action (karmasu kauśalam). The skill meant here is not mere efficiency. It is the art of acting fully while remaining free, so that action does not leave the bonds it ordinarily does. Krishna therefore urges Arjuna to devote himself to yoga.