A Self-realized person does not depend on anybody [except God] for anything.

A person is said to have achieved yoga, the union with the Self, when the perfectly disciplined mind gets freedom from all desires, and becomes absorbed in the Self alone.

Therefore, resort to Karma-yoga and cut the ignorance-born doubt abiding in your heart by the sword of Self-knowledge, and get up (to fight), O Arjuna.

Sever the ignorant doubt in your heart with the sword of self-knowledge. Observe your discipline. Arise.

One gradually attains tranquillity of mind by keeping the mind fully absorbed in the Self by means of a well-trained intellect, and thinking of nothing else.

A Karma-yogi performs action by body, mind, intellect, and senses, without attachment (or ego), only for self-purification.