From verse 16 to verse 22 we see Krishna throwing light on action, inaction and wrong action. Action — that is to say, true action — is not just to move our legs and heads. Action is self-giving. Action is to abandon attachment. Action is to bring the senses under control. Wrong action is to dance with desire. Wrong action is to disobey one’s inner being. Wrong action is to swerve from the path of truth, esoteric and exoteric.
In common belief inaction is tantamount to inertia, sloth and so forth. But true inaction is to throw oneself into ceaseless activities while keeping the conscious mind in a state of sublime tranquillity or trance.