Bhagavad Gita sings:

तपस्विभ्योऽधिको योगी ज्ञानिभ्योऽपि मतोऽधिकः।
कर्मिभ्यश्चाधिको योगी तस्माद्योगी भवार्जुन॥
*
tapasvibhyo’dhiko yogī jñānibhyo’pi mato’dhikah
karmibhyaścādhiko yogī tasmādyogī bhavārjuna
*
“Since yogi are superior to men who do penance,
or
men who follow the path of discrimination,
or men who desire the fruits of action,
O Kurunandan,
you should be a doer of selfless action.”
*
A yogi, doer of selfless action, surpasses all ascetics,
men of knowledge as well as those of action.
So Krishn’s final counsel to Arjun is that he should be a yogi.
This necessitates an appraisal of what all these types are.
*
The ASCETIC is one who practices severe austerities
and
mortification of the body, mind, and senses to shape the yog
which has not yet started flowing through him like an unimpeded current.
*
The DOER is one who is engaged in the ordained task
after knowing it,
but who applies himself to it without either making an appraisal
of
his own strength or a sense of dedication.
He is just engaged in the carrying out of an enterprise.
*
The MAN OF KNOWLEDGE, follower of the Way of Knowledge,
is
engaged in the performance of the deed of yagya only after gaining full understanding of the process from a noble mentor,
an accomplished teacher, as well as with a clear appraisal
and
judgement of his own strength; he holds himself responsible for both profit and loss in the undertaking.
*
The YOGI, doer of selfless action, performs the same prescribed task of meditation with a sense of total surrender to the adored one; the responsibility for the success of his yog is borne by God and
Yogeshwar.
Even when there are prospects of failure he has no fear,
because the God, whom he craves for,
has taken upon himself the task of supporting and upholding him.
*
All the four types of action are noble as such. But the ascetic, the man of penance, is still engaged in equipping himself for yog.The doer, the man of action, engages in action just because he knows that it has to be undertaken.

These two may fail, because they have neither a sense of dedication nor a proper discernment of their assets and liabilities. But the follower of the Way of Knowledge is aware of the means of yog and also of his own strength. He holds himself responsible for whatever he does. And the yogi, the doer of selfless action, has cast himself at the mercy of his adored God, and it is God who will protect and help him.

Both of these tread well on the path of spiritual salvation.
But the way on which the safety of the worshiper is looked after
by God is the superior of the two.

It is acknowledged by Sri Krishn. So the yogi is the most superior of men and Arjun ought to be a yogi.
He should engage in the task of performing yog
with
a sense of complete resignation.
*
The yogi is superior, but even better is that yogi who dwells in God through his Self.Sri Krishn adds:                                                                  

योगिनामपि सर्वेषां मद्गतेनान्तरात्मना।
श्रद्धावान्भजते यो मां स मे युक्ततमो मतः॥
*
yogināmapi sarvesām madgatenāntarātmanā
śraddhāvānbhajate yo mām sa me yuktatamo matah
*
“Among all yogi I think that one the best who is dedicated to me and who, abiding in the Self, always adores me.’’
*
Sri Krishn regards, among all yogi-doers of selfless action, that one as the best who, immersed in his feeling of devotion, always adores him.

Worship is not a matter of display or exhibition.
Society may approve of such display, but god is offended. Worship is a secret, private activity, and it is undertaken within the heart. The ascent and descent of worship
are
events that belong to the Innermost seats of thought
and
feeling.

 [Revered Swami Adgadanandji Paramhans]

 As expounded by most revered Gurudev.

Humble Wishes!!!