 Śaṅkara’s commentary on the Bhagavadgītā provides a rich resource for his yogic methods and ethical virtues. For example, following BhG ch. 2–4, he endorses a yoga of action (karmayoga). Karmayoga is a yogic process that employs a philosophy of action to cultivate emotional growth and world participation. It extends Vedic ritual frameworks of sacrificial contribution and consumption to all actions. All action becomes analogous to devotionally placing ritual oblations into the sacrificial fire as offerings to deities. The Advaitin yogin offers actions altruistically to īṣvara for the benefit of all beings (lokasaṅgraḥ) and the harmonious functioning of the world. Just as the sacrificer equanimously consumes the remnants of sacrificial food offerings as a blessing, sans gustatory pleasure or aversion, so too does the yogin learn to accept the results of their actions with equanimity. Karmayoga intends to free one from the binding attachment of desires caused by the mistaken belief that desired objects possess one’s happiness. It develops internal renunciation, equipoise, gratitude, and benevolence, while releasing one from the anger, sadness, and inner turmoil that arise from thwarted desire. This yogic attitude extends not only externally to society, beings, and world, but also internally to one’s physiology and psychology.