gata-saṅgasya muktasya jñānāvasthita-chetasaḥ
yajñāyācharataḥ karma samagraṁ pravilīyate||23||

Meaning : When you act without attachment, with your mind steady in true knowledge, and see your work as an offering or sacrifice, all your actions lose their binding effects. They get purified and no longer create karma that ties you down.