Key topic for discussion is Bhagavad-gita 3.31.
ये मे मतमिदं नित्यमनुतिष्ठन्ति मानवाः । श्रद्धावन्तोऽनसूयन्तो मुच्यन्ते तेऽपि कर्मभिः ॥ ३१ ॥
ye me matam idaṁ nityam anutiṣṭhanti mānavāḥ śraddhāvanto ’nasūyanto mucyante te ’pi karmabhiḥ
Those persons who execute their duties according to My injunctions and who follow this teaching faithfully, without envy, become free from the bondage of fruitive actions.
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