Sridhara Swami's Commentary
In this verse the topic of the previous two verse is being concluded with Lord Krishna confirming that those great souls who have attained atma-tatva or soul realisation should perform prescribed Vedic actions for the benefit of the world out of compassion. As the ignorant perform actions being attached to the rewards contrarily one situated in atma-tattva should unattached perform Vedic activities solely for the welfare of the world.