The sadhana that we need to learn about is karm yog sadhana, but we cannot neglect karm sanyas sadhana. Karm sanyas sadhana is the foundation. It's going to help us practice karm yog sadhana because we live in the world. We are not sanyasi babas. We are not in the jungle away from the world.
Thus, the karm yog sadhana is where the action, the karm, is performed. The necessary actions and the mind is in yog with God. Yog means union, one with the Lord. Exclusively the mind is with the Lord all the time.
The biggest example, the greatest example, and the most beautiful example is the example of the Gopis, the maidens of Braj.
या दोहनेऽवहनने मथनोपलेप-प्रेङ्खेङ्खनार्भरुदितोक्षणमार्जनादौ । गायन्ति चैनमनुरक्तधियोऽश्रुकण्ठ्योधन्या व्रजस्त्रिय उरुक्रमचित्तयाना: ॥
Yā dohane vahanane mathanopalepa preṅkheṅkhanārbha-ruditokṣaṇa-mārjanādau. Gāyanti chainam anurakta-dhiyo śhru-kaṇṭhyo dhanyā vraj-striya urukrama-chitta-yānāḥ.- Bhagwatam 10.44.15
The Gopis are milking the cow and their minds are one with Shyamsundar. Karm, action, is happening; it's taking place. Duty has been performed by them and their minds are one with the Lord.
