Action means worship; and the accomplished doer is one who sees non-action in action, that is, who contemplates God and yet believes simultaneously that rather than being the doer, he has only been prompted to action by his inherent properties.
Only when this ability to see non-action has been mastered and the continuity of action is unbroken, should one believe that action is proceeding in the right direction. The man with this insight is a wise man. verily a yogi, endowed with the means by which the individual Soul is united with the Supreme Spirit, and a doer of perfect action. There is not even the slightest error in his performance of action.