युक्तः कर्मफलं त्यक्त्वा शान्तिमाप्नोति नैष्ठिकीम् ।
अयुक्तः कामकारेण फले सक्तो निबध्यते ।। ५.१२ ।।

yuktaḥ karma-phalaṁ tyaktvā śāntim-āpnoti naiṣṭhikīm |
ayuktaḥ kāma-kāreṇa phale sakto nibadhyate || 5.12 ||

Krishna then summarizes the distinction between the ‘yoga-integrated person’ (yuktah) and the rest:

Leaving the subjective taints of actions, the integrated yogi attains well-established perpetual peace and ‘quietitude’. The non-integrated, driven by passion, gets attached to the results, and hence gets bound.

“Arjuna”, says Krishna, “see the difference between the yogic-pursuit and non-yogic pursuit of actions. The yogi, as well as others, performs actions. The yogi remains ‘integrated’, whereas the non-yogi is not so. Because of this basic difference, the mental outcome of whatever they do becomes widely different. The yogic performer floats in ‘detachment and dis-identification’. His inward refinement and enrichment gain for him the well-established self-based peace (naishthikim santih).

For the non-yogi it is an entirely different situation. He does not know about the body-different Soul or his identity with It. As a consequence, attachment to fruits of action, ‘object-results’ overpowers him while acting. Passion and greed dominate his mind. He misses the impersonal note throughout. So the object result of whatever he does robs his vision. And alas, he gets bound, every time.

The contrast should not be missed. Both are performing actions, in the same world and environment. Spiritual integration fills one. As a result, he floats in peace and joy. In the other, such integration is lacking deplorably. He remains a constant victim of affliction, agitation and doubt, which together constitute bondage.