In plain words
But people of virtuous action whose wrongdoing has come to an end, freed from the delusion of opposites, worship Me with firm resolve.
Word for word
But those people of meritorious deeds whose sin has come to an end, they, freed from the delusion of the pairs, worship Me, firm in resolve.
येषां त्वन्तगतं पापं जनानां पुण्यकर्मणाम्ते द्वन्द्वमोहनिर्मुक्ता भजन्ते मां दृढव्रताः
Other commentaries
The commentators
▸Bhagavadgītābhāṣyam
के पुनः अनेन द्वन्द्वमोहेन निर्मुक्ताः सन्तः त्वां विदित्वा यथाशास्त्रमात्मभावेन भजन्ते इत्यपेक्षितमर्थं दर्शितुम् उच्यते —
येषां तु पुनः अन्तगतं समाप्तप्रायं क्षीणं पापं जनानां पुण्यकर्मणां पुण्यं कर्म येषां सत्त्वशुद्धिकारणं विद्यते ते पुण्यकर्माणः तेषां पुण्यकर्मणाम् , ते द्वन्द्वमोहनिर्मुक्ताः यथोक्तेन द्वन्द्वमोहेन निर्मुक्ताः भजन्ते मां परमात्मानं दृढव्रताः । ‘एवमेव परमार्थतत्त्वं नान्यथा’ इत्येवं सर्वपरित्यागव्रतेन निश्चितविज्ञानाः दृढव्रताः उच्यन्ते ॥ २८ ॥
In plain words
But who are the others — those set free from this confusion of the opposites, who come to know you and, just as the scriptures direct, turn to you with the conviction that you are their very Self? To show that awaited point, this is now said:
These are the ones whose wrongdoing has burned down to almost nothing — people whose good actions keep clearing the mind until barely any darkness is left in them. That is what it means to act meritoriously: to keep purifying the heart through what one does. Freed now from that same delusion of pull and push, they worship Me, the Supreme Self, with unshakeable resolve. 'This alone is the truth — and nothing else' — holding to that with everything else set down, having reached a certainty nothing can shift, they are the ones rightly called firm in their vow.
Close to the Sanskrit
But who, being freed from this delusion of the pairs of opposites, having known you, worship you according to scripture with the conviction that you are the Self? — in order to show this expected matter, it is said:
Of whom, moreover, sin has gone to its end — that is, has become nearly exhausted, diminished — of those people of meritorious deeds, for whom exists meritorious action that is the cause of the purification of sattva, they are 'persons of meritorious deeds'; of those persons of meritorious deeds: they, freed from the delusion of the pair of opposites, that is, freed from the aforementioned delusion of the pair of opposites, worship Me, the Supreme Self, with firm vow. 'Thus alone is the ultimate truth, and not otherwise' — thinking in this way, by the vow of renouncing everything else, those of settled knowledge are called 'of firm vow.'