Ramanuja's Commentary
Knowing the immortal eternal soul to be that which is distinct and independent from the physical body, uncontaminated with the qualities pertaining to the material existence but connected to those qualities which are spiritual in nature and eternal; maintaining an equipoised mind in the various conditions of pleasure and pain, loss and gain, victory or defeat being devoid of any fruitive desire or hankering for any reward or remuneration, such as going to the heavenly worlds, fight this righteous battle as a matter of duty which needs to be discharged. One who is situated in wisdom with their mind properly composed in this manner while executing their prescribed duties will incur no sinful reactions and thus will be eligible for salvation from material existence. Sinful reactions is the root of all suffering and the cause of perpetual bondage in the cycle of birth and death in the material existence. After thus imparting to Arjuna the real nature of the eternal soul, the Supreme Lord Krishna begins his instructions for achieving salvation by karma yoga which is the science of the individual consciousness attaining communion with the Ultimate Consciousness through actions.