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He who has renounced actions by Yoga, whose doubts are rent asunder by knowledge, and who is self-possessed actions do not bind him, O Arjuna.

Actions do not bind one who has renounced action through yoga, whose doubts are cut away by knowledge, and who is in possession of himself, Dhananjaya.

Krishna brings together the main threads of the chapter. The one who is free from the bondage of action has given up action through yoga, meaning he has offered its fruits and released attachment rather than stopped acting. His doubts are cut away by knowledge (jñāna). He is ātmavat, self-possessed, in command of himself. Yoga, knowledge and self-mastery work together. The verse answers Arjuna's dilemma by showing that renunciation and action are not opposites: true renunciation happens within action, through the right understanding.