naiva tasya kṛitenārtho nākṛiteneha kaśhchana
na chāsya sarva-bhūteṣhu kaśhchid artha-vyapāśhrayaḥ || 18||
tasmād asaktaḥ satataṁ kāryaṁ karma samāchara 
asakto hyācharan karma param āpnoti pūruṣhaḥ || 19||

My Understanding : People who experience soul satisfaction are not bound by any external responsibilities. They do not rely on anyone or anything for their happiness or contentment. True detachment is something we must practice. While remaining detached, we must still fulfill our duties and responsibilities. By living in this way, any person can ultimately reach Paramathma (the Supreme Soul).