Having no desires, controlling the mind and body, having no sense of possessiveness, such a person does not incur any wrongdoing although they may perform actions in order to maintain the body.
Bhagavad Gita - Chapter 4 - Jnana Yoga - The Yoga of Knowledge
One who is content with those things that come of their own accord, and is beyond duality, devoid of enviousness, and equal in success and failure – such a person is not bound by karma, although he may perform actions.
All karma is completely dissolved for one who is detached, liberated, situated in knowledge and performs action only in sacrifice.
The utensils used for sacrifice are the Absolute, the sacred fire is the Absolute and the offering made is the Absolute. One whose consciousness is always absorbed in thoughts of the Absolute attains the Absolute.
Some yogis perform sacrifices to the demigods. Others offer themselves into the fire of the Absolute.
Some offer the senses of hearing, seeing, touching, smelling and tasting into the fire of self-control. Others offer the sense-objects – sound, form, taste, touch and smell – into the fire of the senses.
Some offer all the functions of the senses and the functions of the life-airs into the fire of self-purification, which is ignited by knowledge.
Some yogis sacrifice their possessions through penances or through the practice of yoga. Some undertake severe vows and strictly sacrifice through knowledge by studying the Vedas.
Others practice control of the life-airs by offering the in-going breath into the out-going breath and out-going breath into the in-going breath, and thus restrain both. Others offer their life airs by controlling the intake of food.
All of them are conversant with the principles of sacrifice. They have purged themselves of impiety by their performance of sacrifice. They are satisfied with the remnants of sacrifice and thus they attain the eternal Absolute Truth. O best of the Kuru Dynasty, for one that never performs sacrifice, even the pleasures of this world are denied – then what to say of the next life?