The Sankhya Yoga I taught you on the intellect that can  distinguish between the Supreme Self and other things is direct knowledge. It will remove the errors that are the cause of Samsara which are grief and delusion.
Regarding the path of yoga which is the means for attaining this knowledge, without attachment, giving up the dualities of joy and sorrow, the yoga of action done as an offering to Ishwara and regarding the integration of mind in the state of Samadhi I will speak further. Listen.
To induce an interest in the mind of Arjuna, Bhagavan praises Buddhi Yoga.  O Arjuna, united with an intellect that contemplates on yoga, you will destroy the bondage of action by the grace of Ishwara’s blessings. This is the opinion.
Further more, other than this…

In this path of Karma Yoga, effort of beginning something is never wasted like it is in agriculture. (If an agricultural work is started, it has to be pursued daily. Else the effort would be in vain.) With regards to Yoga, the effort of starting it is not without a certain result – i.e. there is certainly a result.  However there is no result of omission as in the case of taking medicine, which will not give the desired result if it is stopped midway.
However, even a little bit of this Yoga Dharma when practised, will protect the person from very great fear of transmigration and change of the nature of birth and death.