Jñāneśvarī (commentary on the Bhagavadgītā) 3.81

3.81

yajñārthāt karmaṇo 'nyatra loko 'yaṃ karmabandhanaḥ
tadarthaṃ karma kaunteya muktasaṅgaḥ samācara
svardhamu jo bāpā |
toci nityayajñu jāṇa pāṃ |
mhaṇoni vartatāṃ tetha pāpā |
saṃcāru nāhīṃ ||

Know, O dear friend, / that one's own duty is itself the constant sacrifice; / therefore, while walking in it, / sin finds no entry.