For anyone starting on the right goals
It is asumed that you have set the right goal. But you are scared to take that up. Be sure the nature of the right goal is understood first well. There are several place in BG Krishn tells about that. This blog post is about the execution.
न मे पार्थास्ति कर्तव्यं त्रिषु लोकेषु किञ्चन नानवाप्तमवाप्तव्यं वर्त एव च कर्मणि 3.22
na me pārthāsti kartavyaṁ triṣhu lokeṣhu kiñchana nānavāptam avāptavyaṁ varta eva cha karmaṇi
There is no duty for Me to do in all the three worlds, O Parth, nor do I have anything to gain or attain. Yet, I am engaged in prescribed duties.
The senses does its work. Krishn doesn’t create hindrance in its work. Let the chemical do its work, let the body do its work. Use intelligence which also part of nature(prakriti) will take care of the actions that it allows. But the atma is observant, it seeks nothing and has no desire. So when it acts, it is a play. And once a person adopts himself in such a way, he is free from the fruits or pain from karma.
Practically, i think Krishn is not asking one to do charity, it is asking to do service for others. And the service should be for the upliftment of others. The moment fear or desires comes into play in the work we do, we start feeling restrcited. We are being played by others and the work beomes effortfull.