Mentally surrendering all your actions to me, and holding me as your highest goal, rely on the yoga of discernment and keep your mind constantly on me.
Explanation
Krishna continues his advice to Arjuna, building on the previous verse about relying on him in all actions. He asks Arjuna to offer his actions inwardly to him and to keep his mind on him; the 'surrendering' here (saṃnyasya, literally renouncing) means this inner offering, not giving up action. 'Yoga of discernment' (buddhi-yoga) is the steady, wise use of the intellect in action; some traditions read it as selfless action guided by wisdom, others as devotion or meditative focus.