एतैर्विमुक्तः कौन्तेय तमोद्वारैस्त्रिभिर्नरः।आचरत्यात्मनः श्रेयस्ततो याति परां गतिम्।।16.22।।
यः शास्त्रविधिमुत्सृज्य वर्तते कामकारतः।न स सिद्धिमवाप्नोति न सुखं न परां गतिम्।।16.23।।
तस्माच्छास्त्रं प्रमाणं ते कार्याकार्यव्यवस्थितौ।ज्ञात्वा शास्त्रविधानोक्तं कर्म कर्तुमिहार्हसि।।16.24।।
O son of Kunti, a person who is free from these three doors to darkness strives for the good of the soul; thereby, they attain the highest Goal.
Ignoring the precepts of the scriptures, he who acts under the impulse of passion does not attain perfection, nor happiness, nor the supreme goal.
Therefore, the scripture is your authority as regards determining what should be done and what should not be done. After understanding your duty as presented by scriptural injunction, you ought to perform it here.
Osho’s Commentary
The one who is free from these three gates to darkness practices what is good for himself and attains the supreme goal. But he who casts aside the scriptures and acts according to his own desires attains neither perfection, nor happiness, nor the supreme goal. Therefore, let the scripture be your authority. What does Krishna mean by shastra, scripture? He is not talking about a dead book. He is talking about the accumulated wisdom of those who have known. The scripture is a map, created by those who have traveled the path. It is foolish to discard the map and try to find your own way in a vast, unknown territory. To act according to your own whims, kamakaratah, is to act out of the ignorance of your own unconscious mind. The scripture is the voice of the awakened ones. To listen to their voice, to follow their guidance, is not a form of slavery. It is an act of supreme intelligence. It is to use the light of those who have seen, until you yourself have eyes to see.