Chapter 9 verse 20
“Those who are inclined to the fruitive activity described in the Vedas worship Me through ritualistic sacrifices. Being purified from sin by drinking the Soma juice, which is the remnant of the yajñas, they seek to go to heaven. By virtue of their pious deeds, they go to the abode of Indra, the king of heaven, and enjoy the pleasures of the celestial gods.”
In Sanatana Dharma, there is Vedas which has the karma khanda and jnana khanda, purusartha-key focus areas of life and there is karma yoga. All three aspects points to liberation from this cycle of birth and death as the ultimate goal. Karma Khanda of the Vedas illustrate sacrifices and ways to pray to Divine and celestial gods. These activities are designed to anneal the body and mind into getting ready for wisdom and knowledge of the Self (jnana khanda). Likewise, the purusarthas-Dharma, Artha, Kama and Moksha is in that order. If a being leads their life in the pursuit of need based desires and material wealth guided by Dharma (righteous conduct), then that person is firmly on the path towards realizing themselves and attain Moksha albeit over some period of time according to their effort and devotion. Karma yoga also points to the same concept. Do your duty as an offering to Divine and enjoy the fruits of that labor as a gift from Him. In this verse, Lord is only referring to what you can get when one does the sacrifices as prescribed by the Vedas in karma khanda.
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