Bhagavad Gita, Chapter 3 verse 7: But he who controls the senses by the mind and without attachment engages the organs of action in the Yoga of action, he excels.
When we serve others' desires — practice 'the Yoga of action' or karma yoga — we break the cycle of impression-desire-action at the level of our desire to find happiness and contentment in objects of the senses (2.45). Freed from desire the senses come under control of a mind stabilized by intellect infused with the unmovable and desireless nature of contented Self (2.60, 2.61, 2.64). In this way, Absolute Self gains subtle control of the mind which in turn, controls the senses, rather than the other way around, where senses attached by desire to turbulent ups and downs of their objects control the mind. The mind liberated from attachments to objects of the senses 'engages the organs of action in the Yoga of action.' The organs of action operate freely and cease to make deep impressions on the mind, liberating us from bondage to action (2.39).
The practice of karma yoga — engaging 'the organs of action in the Yoga of action' — is skill in action, where we perform spontaneous, smooth and effective actions that achieve desired outcomes (2.50) to include the highest outcome, liberation from bondage to action (2.45). Skilled in action, ‘he excels.’
copyright commentary Keith R Parker 2021