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Do thou, O Arjuna, know Yoga to be that which they call renunciation; no one verily becomes a Yogi who has not renounced thoughts.

Know that what people call renunciation is yoga, son of Pandu, for no one becomes a yogi without renouncing self-willed intentions.

Krishna says plainly that what people call renunciation is the same as yoga. The link between them is the giving up of saṅkalpa, the self-willed intention that plans actions around personal gain. Without letting go of such intentions, no one becomes a yogi, however disciplined they may look. This removes the apparent conflict Arjuna felt between the life of action and the life of withdrawal. Both, at their heart, require the same inner step: releasing the ego's grip on what one does.