Practice the Karma Yoga Krishna taught in the Bhagavad Gita
Krishna's ‘Supreme Secret’ to practicing Karma Yoga is to serve the desires of others. You can’t do two things at once. In serving others’ desires you innocently renounce your own. No desire, no action to achieve happiness in material things. Liberation from the bondage of desire and action achieved!
Practicing Karma Yoga is just that simple: serve the desire of others and so, innocently renounce your own.
To gain the essence of Krishna’s teaching read the commentary on Ch 4, Renunciation of Action in the Light of Knowledge. To deepen your understanding and enhance your experience of the practice follow references back to the Yoga of Understanding (Ch 2) and the Yoga of Experience Through Action (Ch 3).