Living According 
to The Divine Law
in Hinduism

…But those who take refuge in Me alone cross beyond it
(Gita: 7: 14)

Man has to use his will to overcome all surrounding pressures, and needs proper understanding of "what ought to be done, and what ought not to be done, what is to be feared and what is not to be feared, what binds and what frees the soul" (Gita: 18: 30). When man understands his prime duty, he can save himself from earthly illusions.

Devoted each to his own duty man attains perfection
(Gita: 18: 45, 46)

...by worshipping Him through the performance of his own duty does man attain perfection(Gita: 18: 46)

….having attained, he attains to the Brahman, that supreme consummation of wisdom (Gita: 18: 50)

Doing continually all actions whatsoever, taking refuge in Me, he reaches by My grace the eternal, undying abode (Gita: 18: 56):
Fearlessness, purity of mind, wise appointment of knowledge and concentration, charity, self-control and sacrifice, study of scriptures, austerity and uprightness. Non-violence, truth, freedom from anger, renunciation, aversion to fault finding, compassion to living beings, freedom from covetousness, gentleness, modesty and steadiness (absence of fickleness) Vigor, forgiveness, fortitude, purity, freedom from malice and excessive pride…these are the endowments of him who is born with the divine nature (Gita: 16: 1-3).

The Gita urges man to make his whole life an expression of that divine nature. When man attains Brahman, he realizes that true happiness springs from "a clear understanding of the Self" (Gita: 18: 37). As much as yoga is a union with God in worship, on the practical level it is a union with God in action.

The Gita teaches that the lower self separates man from surrendering to the Divine Law. It imprisons him in his limited ego, "I am the doer". The way to clear the ego requires understanding and struggle at the same time. When man observes himself and finds out that his motivation for action is directed to the fruit of his deeds, he should reconsider what he is doing for it is the "lower self" that motivates him. On the other hand, man has "to unite his heart with Brahman, then act". The Selfcan unite man with Brahman because:

The Supreme Spirit in the body is said to be the Witness, the Permitter, the Supporter, the Experiencer, the Great Lord and the Supreme Self (Gita: 13: 22)

The Gita teaches the conversion of all works into niskama karma or the act that is not motivated by desires.

…he who performs a prescribed duty as a thing that ought to be done, renouncing all attachment and also fruit-his relinquishment is regarded as one of "goodness" (Gita: 18: 9)