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BG Chap 18 - Kṛṣṇa's advice to Arjuna as how to be situated

Offering all of his activities to Kṛṣṇa, making Him as the only goal of life, taking shelter of buddhi yoga, Arjuna should remember Kṛṣṇa always while doing all actions. Baladeva Vidyabhusana says Kṛṣṇa is instructing Arjuna to offer all his prescribed activities to the Lord, taking Kṛṣṇa alone as the goal and to be conscious of Him always without interruption even while performing his actions. The devotee after having offered the activities to Kṛṣṇa should perform them, rather than doing them and then offering them to the Lord, which is karma-yoga. Viśvanātha Cakravarti says that Arjuna does not have the strength to be an ananya bhakta, and neither should he be a sakāma bhakta, described above – to engage in bhakti mixed with karma. He should be an intermediate devotee.