"Next, the second group; the adepts at Nishkamakarma. These are the Mumukshus, alert on the path of liberation, who are intent on attaining it. They perform each act as a step in the realisation of the Lord. So they can never do anything bad; they do not look forward to the result; they leave it to the Lord to give it, or withhold it. They are not prompted by worldly motives or even by the desire to gain heavenly pleasure. Their aim is just this: Liberation from the bondage of the objective world. They win the grace of the Lord in proportion to the steadiness of their faith and practice."
The third group, which believes in Sa-kama-karma, performs all acts through the desire for the fruit thereof. Since they have an eye on the successful earning of the fruit, they will engage themselves only in acts that are approved by the Sastras; they will not do any sinful or prohibited act. They will equate each act with the merit it will confer, the happiness it will ensure, the heaven it will win. Such men, when they depart from this world, will enter the Lokas (supra-mundane worlds) they have sought and worked for, and having stayed there as long as their merit entitles them, they have to return to earth."
"The fourth group is not guided by any rule of conduct. They have no norms, no discrimination between virtue and vice, right and wrong, proper and improper. They have no horror of hell, no conception of heaven, no dread of the devil, no reverence for God, no respect for the Sastras, no vision of Dharma! They are best pictured as beasts in human form. The majority of humans are members of this unfortunate group. They strive for momentary pleasure, short-lived happiness, temporary joy and evanescent comfort. To call them apes with human physique will be a big mistake; for the ape only jumps from branch to branch or from tree to tree. It releases itself from one branch or one tree before landing on another. Men are more like caterpillars, which move from leaf to leaf, fixing their foreparts on a new leaf, before releasing their hindparts from the leaf on which they were resting till then."
"That is to say, man by his acts in this life decides on his next birth, where and how it will be, even before leaving this world. The new place is ready for him, his foreparts are already there; it is only after setting this that he relieves himself of the hold on this world! Men of this category move round in the wheel of birth and death. To be born and to die, one must have auspicious moments which will guarantee a wise life and a worthwhile end. Arjuna! Yogis, for example, give up life only when auspicious moments are available, not at other times. That is why people say, death is the witness for the good. An auspicious moment is to be chosen even for the act of death."
