To be free from bondage the wise person must practise discrimination between One-Self and the ego-self.
By that alone you will become full of joy, recognising Self as Pure Being, Consciousness and Bliss.
From a clear knowledge of the Bhagavad-gita all the goals of human existence become fulfilled. Bhagavad-gita is the manifest quintessence of all the teachings of the Vedic scriptures.
Knowing that I am different from the body, I need not neglect the body. It is a vehicle that I use to transact with the world. It is the temple which houses the Pure Self within.