The process of yukta vairagya, or engaging everything in the Lord’s service is found in at least two places in Bhagavad-gita As It Is (BGAII). We don’t have to quote Rupa Goswami to understand or discover this essential. It is right there in the BGAII. Here are the two verses I refer to in BGAII: BG 3.9 yajnarthat karmano `nyatra
loko `yam karma-bandhanah
tad-artham karma kaunteya
mukta-sangah samacara Work done as a sacrifice for Visnu has to be performed, otherwise work causes bondage in this material world. Therefore, O son of Kunti, perform your prescribed duties for His satisfaction, and in that way you will always remain free from bondage. In his purport, Srila Prabhupada writes: “Since one has to work even for the simple maintenance of the body, the prescribed duties for a particular social position and quality are so made that that purpose can be fulfilled. Yajna means Lord Visnu, or sacrificial performances. All sacrificial performances also are meant for the satisfaction of Lord Visnu. The Vedas enjoin: “yajno vai visnuh.” In other words, the same purpose is served whether one performs prescribed yajnas or directly serves Lord Visnu. Krsna consciousness is therefore performance of yajna as it is prescribed in this verse. The varnasrama institution also aims at satisfying Lord Visnu. “Varnasramacaravata purusena parah puman/ visnur aradhyate.” (Visnu Purana 3.8.8). Therefore one has to work for the satisfaction of Visnu. Any other work done in this material world will be a cause of bondage, for both good and evil work have their reactions, and any reaction binds the performer. Therefore, one has to work in Krsna consciousness to satisfy Krsna (or Visnu); and while performing such activities one is in a liberated stage. This is the great art of doing work, and in the beginning this process requires very expert guidance. One should therefore act very diligently, under the expert guidance of a devotee of Lord Krsna, or under the direct instruction of Lord Krsna Himself (under whom Arjuna had the opportunity to work). Nothing should be performed for sense gratification, but everything should be done for the satisfaction of Krsna. This practice will not only save one from the reaction of work, but also gradually elevate one to transcendental loving service of the Lord, which alone can raise one to the kingdom of God.” and BG 9.27 “yat karosi yad asnasi, yaj juhosi dadasi yat
yat tapasyasi kaunteya, tat kurusva mad-arpanam "Whatever you do, whatever you eat, whatever you offer or give away, and whatever austerities you perform—do that, O son of Kunti, as an offering to Me." PURPORT Thus, it is the duty of everyone to mould his life in such a way that he will not forget Krsna in any circumstance. Everyone has to work for maintenance of his body and soul together, and Krsna recommends herein that one should work for Him. Everyone has to eat something to live; therefore he should accept the remnants of foodstuffs offered to Krsna. Any civilized man has to perform some religious ritualistic ceremonies; therefore Krsna recommends, “Do it for Me,” and this is called arcana. Everyone has a tendency to give something in charity; Krsna says, “Give it to Me,” and this means that all surplus money accumulated should be utilized in furthering the Krsna consciousness movement. Nowadays people are very much inclined to the meditational process, which is not practical in this age, but if anyone practices meditating on Krsna twenty-four hours a day by chanting the Hare Krsna mantra round his beads, he is surely the greatest meditator and the greatest yogi as substantiated by the Sixth Chapter of Bhagavad-gita.”