Chapter 3 · The Yoga of Action · Krishna said
Bhagavad Gita 3.31 — Follow with faith
ये मे मतमिदं नित्यमनुतिष्ठन्ति मानवाः। श्रद्धावन्तोऽनसूयन्तो मुच्यन्ते तेऽपि कर्मभिः ॥
ye me matamidaṃ nityamanutiṣṭhanti mānavāḥ | śraddhāvanto'nasūyanto mucyante te'pi karmabhiḥ ||
Meaning
Those who always follow this teaching of mine with faith and without finding fault are also freed from the bondage of action.