B.G 3.06 and 07

कर्मेंद्रियाणि संयम्य य आस्ते मनसा स्मरन्। इंद्रियार्थान् विमूढात्मा मिथ्याचारः स उच्यते ॥६॥

यस्त्विंद्रियाणि मनसा नियम्यारभतेSर्जुन। कर्मेंद्रियैः कर्मयोगमसक्तः स विशिष्यते ॥७॥

karmēṁdriyāṇi saṁyamya ya āstē manasā smaran। iṁdriyārthān vimūḍhātmā mithyācāraḥ sa ucyatē ॥6॥

yastviṁdriyāṇi manasā niyamyārabhatēSrjuna। karmēṁdriyaiḥ karmayōgamasaktaḥ sa viśiṣyatē ॥7॥

[कर्मेंद्रियाणि संयम्य य आस्ते मनसा स्मरन्। इंद्रियार्थान् विमूढात्मा मिथ्याचारः स उच्यते॥
karmēṁdriyāṇi = the organs of action; saṁyamya = by restraining; ya = anyone who; āstē = remains; manasā = in the mind; smaran = remembering; iṁdriyārthān = sense objects; vimūḍhātmā = is foolish, deluded; mithyācāraḥ = it not authentic, hypocrite; sa = he; ucyatē = is called;]

[यः तु इन्द्रियाणि मनसा नियम्य आरभते अर्जुन। कर्मेंद्रियैः कर्मयोगम् असक्तः स विशिष्यते॥
yaḥ = one who; tu = but; indriyāṇi = organs of action and senses; manasā = by the mind; niyamya = controls; ārabhatē = starts engaging; arjuna = O Arrjuna; karmēṁdriyaiḥ = organs of action; karmayōgam = Yoga of action; asaktaḥ = with detachment; sa = he; viśiṣyatē = is the speacial one;]

He, who restraining the organs of action keeps on contemplating the objects of senses in the mind, is entirely deluded and is rightly described as a hypocrite. But, O Arjuna, he who controlling the indriyas (i.e. organs of senses and organs of action) by the mind, employs the organs of action with detachment, is the special one.

Gīta Bhāshya 3.06 and 07

As per one's capacity, it is necessary to sacrifice (tyāga), i.e. to engage in Karma-Yōga. Karma-Yōga is performing prescribed duties with detachment and is meant for all, including ascetics. Mind is instrumental and must be controlled to develop detachment while acting.

तथापि शक्तितः त्यागः कार्यः इत्यत आह - कर्मेंद्रियाणि इति। मन एव प्रयोजकम् इति दर्शयितुम् अन्वयव्यतिरेकौ आह, मनसा स्मरन् मनसा नियम्या इति। कर्मयोगं स्ववर्णाश्रमोचितम्। न तु गृहस्थकर्मैव इति नियमः। संन्यासादिविधानात्। सामान्यवचनाच्च ॥६,७॥

tathāpi śaktitaḥ tyāgaḥ kāryaḥ ityata āha - karmēṁdriyāṇi iti। mana ēva prayōjakam iti darśayitum anvayavyatirēkau āha- "manasā smaran manasā niyamyā" iti। karmayōgaṁ svavarṇāśramōcitam। na tu gr̥hasthakarmaiva iti niyamaḥ। saṁnyāsādividhānāt। sāmānyavacanācca ॥6,7॥

[tathāpi = Even then; śaktitaḥ = as per one's capacity; tyāgaḥ = sacrificing; kāryaḥ = needs to be achieved; ityata = therefore; āha = it is said; - karmēṁdriyāṇi iti = 'karmēṁdriyāṇi' 'organs of action', verse; mana ēva = mind alone; prayōjakam = instrumental; iti = thus; darśayitum = to show; anvayavyatirēkau = through both affirmation and negation; āha = is explained; manasā smaran = 'remembered with the mind'; manasā niyamyā = 'controlled by the mind'; iti = thus; karmayōgaṁ = the Yoga of action is; svavarṇāśramōcitam = is as per one's occupation (verna) and stage in life (ashrama); na tu = and is not meant to; gr̥hasthakarmaiva = specifically for householder; iti niyamaḥ = such is the rule; saṁnyāsādividhānāt = There are prescribed duties for asetics as well; sāmānyavacanācca = What is prescribed here is generic;]

Even then, as per one's capacity, it is necessary to sacrifice (tyāgaḥ). Hence, 'karmēṁdriyāṇi', i.e. "by organs of action" verse.

To show the mind alone is instrumental, it is explained both by affirmation and negation by stating - 'remembered with the mind' and 'controlled by the mind'.

The Yōga of action is to be pursued by performing duties as per one's occupation (varna) and stage is life (ashrama). It is not specifically meant only for householders, such is the rule. Even the ascetics have their own duties. The prescribed action here is generic, (hence applies to all).