B.G 6.03

ārurukṣormuneryogaṁ karma kāraṇamucyate। yogārūḍhasya tasyaiva śamaḥ kāraṇamucyate ॥3॥

It is said that for the sage who aims to become a Yōgi, performing duties is the cause. It is said, for one who is already on the path, striving of his mind to be stationed in the intellect, becomes the sole cause.

Gīta Bhāshya 6.03

'yogam ārurukṣoḥ' - one who is desiring the fulfillment of means of the Yoga. 'yogaṁ ārūḍhasya' - one who is searching for the means to fulfill his undertaking of Yoga. Such persons are after knowledge beyond the material. Only for such persons meditation and worship becomes the primary cause.

kiyatkālaṁ karma kartavyam ityata āha - ārurukṣormuneḥ iti।

For how long one should perform the actions as a duty is explained by 'ārurukṣormuner' verse.

yogam ārurukṣoḥ upāyasampūrtim icchoḥ।yogaṁ ārūḍhasya sampūrṇopāyasya। aparokṣajñāninaḥ ityarthaḥ। kāraṇaṁ paramasukhakāraṇam। aparokṣajñānino'pi samādhyādiphalam uktam। tasya sarvopaśamena samādhireva kāraṇaṁ prādhānyena ityarthaḥ। tathāpi yadā bhoktavyoparamaḥ tadaiva samyag asamprajñātasamādhiḥ jāyate। anyadā tu bhagavaccaritādau sthitiḥ। taccoktam -

'yogam ārurukṣoḥ' - means one who is desiring the fulfillment of means of the Yoga. 'yogaṁ ārūḍhasya' - One who is searching for the means to fulfill his undertaking of Yoga. Such a person is aspiring to become 'aparokṣajñānin', i.e. he is seeking the knowledge beyond the worldly. Thus, the stated 'cause' should be the cause for ultimate happiness. For a such a knowledgeable person, absorption in the state of equanimity (samādhi) is stated as a benefit. His withdrawal from all aspects, indeed, becomes the primary cause for his equanimous state (samādhi), is the meaning. Even there, when the enjoyment ceases, then indeed, arises the perfect 'asamprajñātasamādhi' state, i.e. equanimous state that does not need the support of an external seed. Otherwise, he is absorbed in listening to the past activities of the lord. Therefore, it is said:

"ye tvāṁ paśyanti bhagavaṁsta eva sukhinaḥ param। teṣāmeva tu samyakca samādhirjāyate nr̥ṇām॥
bhoktavyakarmaṇyakṣīṇe japena kathayā'pi vā। vartayanti mahātmānaḥ tvadbhaktāstvatparāyaṇāḥ॥"

"O Lord, those who see you alone experience supreme happiness. For them, indeed, samādhi arises perfectly. Until the experiences to be experienced derived from past actions wane, your devotees immerse themselves in meditation and the recollection of your past deeds."

iti ॥3॥

- states the testimonial.