In the sixth chapter of the Gita, Krishna shows that detachment from the outcomes of actions is not possible without renunciation from desires and expectations. He describes why it is essential to gain control over the soul to become detached from desires. Krishna also explains meditation and how it helps one gain control over the mind and thus become one with Brahman. He reassures Arjun that those who fail to achieve perfection in one lifetime will eventually achieve perfection over many births.