Text 7

yas tv indriyani manasa
niyamyarabhate ’rjuna
karmendriyaih karma-yogam
asaktah sa visisyate

Translation

On the other hand, if a sincere person tries to control the active senses by the mind and begins karma-yoga [in Krishna consciousness] without attachment, he is by far superior. 

Commentary by Srila Prabhupada 

Instead of becoming a pseudo transcendentalist for the sake of wanton living and sense enjoyment, it is far better to remain in one’s own business and execute the purpose of life, which is to get free from material bondage and enter into the kingdom of God. The prime svartha-gati, or goal of self-interest, is to reach Vishnu. The whole institution of varna and ashrama is designed to help us reach this goal of life. A householder can also reach this destination by regulated service in Krishna consciousness. For self-realization, one can live a controlled life, as prescribed in the shastras, and continue carrying out his business without attachment, and in that way make progress. A sincere person who follows this method is far better situated than the false pretender who adopts show-bottle spiritualism to cheat the innocent public. A sincere sweeper in the street is far better than the charlatan meditator who meditates only for the sake of making a living.

Commentary by Sri Visvanatha Cakravarti Thakur

In contrast to this, the householder (not the sannyasi), who performs scriptural actions (karma yogam) without longing for fruits of his actions (asaktah) is superior. Ramanujacarya says in this regard that he is superior to the person practicing jnana because of the impossibility of going astray.