Srimad Bhagavat Gita commentary chapter 18 verse 9

 Chapter 18 verse 9               

“When actions are taken in response to duty, Arjuna, and one relinquishes attachment to any reward, it is considered renunciation in the nature of goodness.” 

When actions are performed since it is meant to be done without any attachment to the fruits of the action, it is said to be performed in sattvic mode or purity in action. This is the essence of karma yoga or union of body, mind and spirit in perfect action without expectations. We all have actions which are difficult to perform or make us uneasy. Arjuna had this predicament of the choice of killing his own kith and kin. It is pretty hard to contemplate doing that even if one was born a warrior. It is not that he was not capable of executing that but was divided in his mind about the utility of the action. We all face this problem. Once we get on the spiritual path, we reach a point where it makes more sense to give it all up and walk away. However is that the best course of action to learn to be satchidananda- reaching existential bliss state? The best course of action is to exhaust our inherent vasanas by resorting to desire less actions which are performed always for the benefit of the world in general and people around us in particular.