Bhagavad Gita 3.20

कर्मणैव हि संसिद्धिमास्थिता जनकादयः।लोकसंग्रहमेवापि संपश्यन्कर्तुमर्हसि॥

karmaṇaiva hi saṃsiddhimāsthitā janakādayaḥ |lokasaṃgrahamevāpi saṃpaśyankartumarhasi ||

Janaka and others attained perfection indeed through action alone; even with the intention of protecting the masses, you should perform action.

King Janaka and others attained perfection through action alone. Even for the sake of enlightening the world, it is your duty to act.

Our plain-language meaning of this verse is waiting for scholar review.