＜I will read the continuation of the Gita commentary for the first time in a while.＞

(1) All objects are like the water seen in mirages, or like the illusory and unreal world of dreams. All actions arising from the mind, senses, and body are nothing but the movements of Guna, which originate from Maya (nature). These arise within Guna in the form of sensations and as objects of various sensations. By understanding this, followers of the path of knowledge no longer claim the right to perform those actions (V.8-9). And, while constantly establishing identity with the supreme spirit or God, which is truth, consciousness, and bliss, and permeates everything, he ceases to recognize the existence of anything other than God (XIII.30). This is called the path of knowledge, or Sānkhyanişthā. It is also known as Jñānayoga or Karmasannyāsa.

(2) On the other hand, the followers of the path of Yoga consider everything to be of God. They are prepared for both success and failure, renounce attachment and the desire for results, and perform all actions according to the will of God (II.47-51). Or, they surrender themselves to God in thought, word, and deed, and with faith and reverence, constantly practice meditation on the form of God, along with his name, virtues, and glory (VI.47). This constitutes the path of Yoga. This path is also referred to by other names, such as Samatvayoga and Buddhiyoga.
In other words, it is the Yoga of tranquility, "Tadartha Karma" or "Madartha Karma," which means working for God. It is also known as Sāttvika Tyāga, which means renunciation of the Sāttvika type.

In the path of yoga, bhakti, or devotion, plays a role as a common method or as a guiding principle. The path of yoga, as presented in the Bhagavad Gita, has never been separated from devotion. Even in passages that do not explicitly mention the god of devotion (II.47-51), it always includes obedience to the Lord's commandments, which in turn promotes the realization of God. In this sense, bhakti indirectly takes that into consideration as well.