After painting the grim chain of downfall, Krishna now offers the alternative. You do not have to flee from the world. You can move among sense objects — see, hear, taste, touch — but do it with senses free from raga (attachment) and dvesha (aversion). The self-disciplined person who manages this attains prasada: deep inner serenity.
The word prasada here does not mean the food offered at a temple. It means an inner clarity, a settling of the mind, like muddy water that has been left still long enough for the silt to sink and the water to become transparent.
This is the Gita's middle path. Not running away from life. Not drowning in it. Walking through the marketplace with an open heart and a steady mind. The lotus leaf that sits on water but never gets wet.