Chapter III Sloka 31

ye me mtimd< inTymnuitóiNt manva>,
ïÏavNtae=nsUyNtae muCyNte te=ip kmRi->.

ye me matamidaÕ nityam
anutiÿ÷hanti m˜nav˜× |
þraddh˜vanto'nas¨yanto 
mucyante te'pi karmabhi× ( 3|31)||

 

Those who constantly practice this teaching of mine,
With faith and without cavilling,
they, too, are freed from actions.

Faith:
"Faith is the bird that feels the light
and sings when the dawn is still dark." -- Tagore.

Cavilling: mere criticism and questioning. You benefit only by living it.

Ignorance of our spiritual nature gives rise to desires
which in their turn cause thought-agitation;
work is nothing other than thoughts fulfilled among the sense objects.

With the knowledge of the Self, spiritual ignorance is terminated;
desire no more rises and hence no corresponding thoughts to be fulfilled. The realized person is thus "freed from work".