Verse 5.25 : Karma Sanyasa Yoga "Path of Renunciation"

Krishna explains that sages whose sins are destroyed, whose doubts are cleared, and who are dedicated to the welfare of all beings, attain liberation.

Sages who attain Brahma-nirvana are those: 1) whose sins/negativity are destroyed, 2) whose doubts are cleared (chinna-dvaidhā), 3) who are self-controlled (yata-ātmānaḥ), and 4) who delight in the welfare of all beings (sarva-bhūta-hite ratāḥ).

True spiritual maturity is altruistic. As we heal our own minds and clear our doubts, we naturally direct our energy toward helping others. Caring for the well-being of others is a powerful way to dissolve our own anxieties.