BG Chap 16 - How one should act in this world
One should know what is to be done and what is not to be done according to the regulation of the scriptures. Understanding what is stated in the scripture, one should perform actions in this world. Since the tendency for lust, anger and greed which are contrary to scripture deviate one from the goal of life, scripture in the form of Vedas, which are perfect and not written by a human being, is the authority in matters of what to do and what not to do. The scriptures are free of the four faults of bhrama (error), karaṇapāṭava (limitation of the senses), pramāda (inattention) and vipralipsā (cheating). Thus one should follow the positive and negative injunctions of scriptures. Knowing about the prescribed and forbidden actions, one should act in this world. For Arjuna, this means to perform actions such as fighting and performing sacrifices in this world of karma, for teaching people, while avoiding the forbidden actions.