The one who is disciplined, giving up the fruit of action, attains lasting peace. The one who is undisciplined, driven by desire and attached to the fruit, remains bound.
Explanation
Krishna continues his answer to Arjuna about acting without being bound by action. The one who is disciplined (yukta), steady in yoga, gives up the results of action and finds lasting peace (śānti). The one who acts out of desire (kāma) and clings to results stays bound. Traditions differ on "yukta": some read it as one established in karma yoga, others as one united with the Self in knowledge.