Chapter 5, Verse 25
Part of 5: Karm Sanyās Yog — कर्मसंन्यासयोगलभन्ते ब्रह्मनिर्वाणमृषयः क्षीणकल्मषाः। छिन्नद्वैधा यतात्मानः सर्वभूतहिते रताः॥
labhante brahma-nirvāṇam ṛiṣhayaḥ kṣhīṇa-kalmaṣhāḥ chhinna-dvaidhā yatātmānaḥ sarva-bhūta-hite ratāḥ
The sages obtain absolute freedom or Moksha when their sins have been destroyed, their dualities have been torn asunder, they are self-controlled, and they are intent on the welfare of all beings.
Sins are destroyed by the performance of Agnihotra (a daily obligatoyr ritual) and other Yajnas (vide notes on verse III. 13) without expectation of their fruits and by other selfless services. The duties vanish by constant meditation on the nondual Brahman. He never hurts others in thought, word and deed, and he is devoted to the welfare of all beings as he feels that all beings are but his own Self. (Cf. XII.4)