Hence, Arjuna, always be mindful of acting with no-attachments. Just do what is required of you without desiring any particular outcomes. Just Recollect that all will unfold as it should in the Unborn.
3.20 By the path of Right Action, King Janaka and others like-minded reached spiritual perfection. In such vein you too should perform right deeds as guidance for others.
Swami Prabhupāda writes:
Kings like Janaka were self-realized souls; consequently they had no obligation to perform the prescribed duties in the Vedas. Nonetheless they performed all the prescribed activities just to set examples for the people in general…Although one who is situated in Kṛṣṇa consciousness may not have any interest in the world, he still works to teach the public how to live and how to act. Experinced persons in Kṛṣṇa consciousness can act in such a way that others will follow…[Swami Prabhupāda, Bhagavad-Gita, As It Is, pg 167]
Paramahansa Yogananda writes:
Idlers, and error-stricken immature yogis, citing the actionless state some illumined yogis have attained, conveniently conclude that the Supreme Goal can be attained without action. The Gita therefore reminds them that King Janaka and similar saints attained perfection by right action (and neither by desire-influenced selfish actions nor by premature assumption of actionlessness). (Yogananda, ibid, pg 376)
*Also the advanced Yogin knows that through detached actionless-action (Wu-hsin) all prescribed duties for the benefit of the many are carried out effortlessly.
3.21 Whatever a Mahayogin does sets a transcendent-standard for others to emulate.
Indeed, just the abiding presence alone of such a Mind is enough to inspire others.
3.22 Arjuna, there is nothing in the cosmos that I haven’t already orchestrated and brought to self-perfection; yet my spirit continues to engage the spiritually disabled.
The very Mind of the Blessed One is spiritually vivifying in its limitless actuosity.
3.23 If I should ever cease my spiritual-activity, the multitudes would simply cease to function.
Without the divine spark to initiate right-action, beings would lack the inner-initiative to aspire beyond their limited conditions.
3.24 If my animating principle should cease to function, the cosmos would unravel into sheer nothingness.
3.25 The spiritually obtuse work exclusively-attached to their own material benefit. The spiritually-mature work tirelessly-unattached to any self-gain and thus guide others to selfless action.
3.26 The spiritually-awakened do not shake the disturbed mind of those still attached from the sleep of their own limited vantage-point; rather they continue to work in detached fashion so as to set-example for the lesser-able.