From StotraSamhita

||paJcamO'dhyAyaH - karmasannyAsa-yOgaH||

arjuna uvAca

sannyAsaM karmaNAM kRSNa punaryOgaM ca zaMsasi| yacchrEya EtayOrEkaM tanmE brUhi sunizcitam||1|| sannyAsaM karmaNAM kRSNa punaH yOgaM ca zaMsasi| yat zrEyaH EtayOH EkaM tat mE brUhi sunizcitam||1|| +

zrIbhagavAnuvAca

sannyAsaH karmayOgazca niHzrEyasakarAvubhau| tayOstu karmasannyAsAtkarmayOgO viziSyatE||2|| sannyAsaH karmayOgaH ca niHzrEyasakarau ubhau| tayOH tu karmasannyAsAt karmayOgaH viziSyatE||2|| +

jJEyaH sa nityasannyAsI yO na dvESTi na kAGkSati| nirdvandvO hi mahAbAhO sukhaM bandhAt pramucyatE||3|| jJEyaH saH nityasannyAsI yaH na dvESTi na kAGkSati| nirdvandvaH hi mahAbAhO sukhaM bandhAt pramucyatE||3|| +

sAGkhyayOgau pRthagbAlAH pravadanti na paNDitAH| EkamapyAsthitaH samyagubhayOrvindatE phalam||4|| sAGkhyayOgau pRthak bAlAH pravadanti na paNDitAH| Ekam api AsthitaH samyak ubhayOH vindatE phalam||4|| +

yatsAGkhyaiH prApyatE sthAnaM tadyOgairapi gamyatE| EkaM sAGkhyaM ca yOgaM ca yaH pazyati sa pazyati||5|| yat sAGkhyaiH prApyatE sthAnaM tat yOgaiH api gamyatE| EkaM sAGkhyaM ca yOgaM ca yaH pazyati saH pazyati||5|| +

sannyAsastu mahAbAhO duHkhamAptumayOgataH| yOgayuktO munirbrahma nacirENAdhigacchati||6|| sannyAsaH tu mahAbAhO duHkham Aptum ayOgataH| yOgayuktaH muniH brahma nacirENa adhigacchati||6|| +

yOgayuktO vizuddhAtmA vijitAtmA jitEndriyaH| sarvabhUtAtmabhUtAtmA kurvannapi na lipyatE||7|| yOgayuktaH vizuddhAtmA vijitAtmA jitEndriyaH| sarvabhUtAtmabhUtAtmA kurvan api na lipyatE||7|| +

naiva kiJcitkarOmIti yuktO manyEta tattvavit| pazyaJzRNvanspRzaJjighrannaznaGgacchansvapanzvasan||8|| na Eva kiJcit karOmi iti yuktaH manyEta tattvavit| pazyan zRNvan spRzan jighran aznan gacchan svapan zvasan||8|| +

pralapanvisRjangRhNannunmiSannimiSannapi| indriyANIndriyArthESu vartanta iti dhArayan||9|| pralapan visRjan gRhNan unmiSan nimiSan api| indriyANi indriyArthESu vartantE iti dhArayan||9|| +

brahmaNyAdhAya karmANi saGgaM tyaktvA karOti yaH| lipyatE na sa pApEna padmapatramivAmbhasA||10|| brahmaNi AdhAya karmANi saGgaM tyaktvA karOti yaH| lipyatE na saH pApEna padmapatram iva ambhasA||10|| +

kAyEna manasA buddhyA kEvalairindriyairapi| yOginaH karma kurvanti saGgaM tyaktvA''tmazuddhayE||11|| kAyEna manasA buddhyA kEvalaiH indriyaiH api| yOginaH karma kurvanti saGgaM tyaktvA AtmazuddhayE||11|| +

yuktaHkarmaphalaM tyaktvA zAntimApnOti naiSThikIm| ayuktaH kAmakArENa phalE saktO nibadhyatE||12|| yuktaH karmaphalaM tyaktvA zAntim ApnOti naiSThikIm| ayuktaH kAmakArENa phalE saktaH nibadhyatE||12|| +

sarvakarmANi manasA sannyasya''stE sukhaM vazI| navadvArE purE dEhI naiva kurvanna kArayan||13|| sarvakarmANi manasA sannyasya AstE sukhaM vazI| navadvArE purE dEhI na Eva kurvan na kArayan||13|| +

na kartRtvaM na karmANi lOkasya sRjati prabhuH| na karmaphalasaMyOgaM svabhAvastu pravartatE||14|| na kartRtvaM na karmANi lOkasya sRjati prabhuH| na karmaphalasaMyOgaM svabhAvaH tu pravartatE||14|| +

na''dattE kasyacit pApaM na caiva sukRtaM vibhuH| ajJAnEna''vRtaM jJAnaM tEna muhyanti jantavaH||15|| na AdattE kasyacit pApaM na ca Eva sukRtaM vibhuH| ajJAnEna AvRtaM jJAnaM tEna muhyanti jantavaH||15|| +

jJAnEna tu tadajJAnaM yESAM nAzitamAtmanaH| tESAmAdityavajjJAnaM prakAzayati tatparam||16|| jJAnEna tu tat ajJAnaM yESAM nAzitam AtmanaH| tESAm Adityavat jJAnaM prakAzayati tat param||16|| +

tadbuddhayastadAtmAnastanniSThAstatparAyaNAH| gacchantyapunarAvRttiM jJAnanirdhUtakalmaSAH||17|| tat buddhayaH tat AtmAnaH tat niSThAH tat parAyaNAH| gacchanti apunarAvRttiM jJAnanirdhUtakalmaSAH||17|| +

vidyAvinayasampannE brAhmaNE gavi hastini| zuni caiva zvapAkE ca paNDitAH samadarzinaH||18|| vidyAvinayasampannE brAhmaNE gavi hastini| zuni ca Eva zvapAkE ca paNDitAH samadarzinaH||18|| +

ihaiva tairjitaH sargO yESAM sAmyE sthitaM manaH| nirdOSaM hi samaM brahma tasmAd-brahmaNi tE sthitAH||19|| iha Eva taiH jitaH sargaH yESAM sAmyE sthitaM manaH| nirdOSaM hi samaM brahma tasmAt brahmaNi tE sthitAH||19|| +

na prahRSyEt priyaM prApya nOdvijEt prApya cApriyam| sthirabuddhirasammUDhO brahmavid-brahmaNi sthitaH||20|| na prahRSyEt priyaM prApya na udvijEt prApya ca apriyam| sthirabuddhiH asammUDhaH brahmavit brahmaNi sthitaH||20|| +

bAhyasparzESvasaktAtmA vindatyAtmani yat sukham| sa brahmayOgayuktAtmA sukhamakSayamaznutE||21|| bAhyasparzESu asaktAtmA vindati Atmani yat sukham| saH brahmayOgayuktAtmA sukham akSayam aznutE||21|| +

yE hi saMsparzajA bhOgA duHkhayOnaya Eva tE| AdyantavantaH kauntEya na tESu ramatE budhaH||22|| yE hi saMsparzajAH bhOgAH duHkhayOnayaH Eva tE| Adi antavantaH kauntEya na tESu ramatE budhaH||22|| +

zaknOtIhaiva yaH sODhuM prAk zarIravimOkSaNAt| kAmakrOdhOdbhavaM vEgaM sa yuktaH sa sukhI naraH||23|| zaknOti iha Eva yaH sODhuM prAk zarIravimOkSaNAt| kAmakrOdhOdbhavaM vEgaM saH yuktaH saH sukhI naraH||23|| +

yO'ntaHsukhO'ntarArAmastathA'ntarjyOtirEva yaH| sa yOgI brahmanirvANaM brahmabhUtO'dhigacchati||24|| yaH antaHsukhaH antarArAmaH tathA antarjyOtiH Eva yaH| saH yOgI brahmanirvANaM brahmabhUtaH adhigacchati||24|| +

labhantE brahmanirvANamRSayaH kSINakalmaSAH| chinnadvaidhA yatAtmAnaH sarvabhUtahitE ratAH||25|| labhantE brahmanirvANam RSayaH kSINakalmaSAH| chinnadvaidhAH yatAtmAnaH sarvabhUtahitE ratAH||25|| +

kAmakrOdhaviyuktAnAM yatInAM yatacEtasAm| abhitO brahmanirvANaM vartatE viditAtmanAm||26|| kAmakrOdhaviyuktAnAM yatInAM yatacEtasAm| abhitaH brahmanirvANaM vartatE viditAtmanAm||26|| +

sparzAn kRtvA bahirbAhyAMzcakSuzcaivAntarE bhruvOH| prANApAnau samau kRtvA nAsAbhyantaracAriNau||27|| sparzAn kRtvA bahiH bAhyAn cakSuH ca Eva antarE bhruvOH| prANApAnau samau kRtvA nAsAbhyantaracAriNau||27|| +

yatEndriyamanObuddhirmunirmOkSaparAyaNaH| vigatEcchAbhayakrOdhO yaH sadA mukta Eva saH||28|| yatEndriyamanaH buddhiH muniH mOkSaparAyaNaH| vigatEcchAbhayakrOdhaH yaH sadA muktaH Eva saH||28|| +

bhOktAraM yajJatapasAM sarvalOkamahEzvaram| suhRdaM sarvabhUtAnAM jJAtvA mAM zAntimRcchati||29|| bhOktAraM yajJatapasAM sarvalOkamahEzvaram| suhRdaM sarvabhUtAnAM jJAtvA mAM zAntim Rcchati||29|| +

||OM tatsaditi zrImadbhagavadgItAsUpaniSatsu brahmavidyAyAM yOgazAstrE zrIkRSNArjunasaMvAdE karmasannyAsayOgO nAma paJcamO'dhyAyaH||