Bhagavad Gita Chapter 4.15
evaḿ jñātvā kṛtaḿ karma
pūrvair api mumukṣubhiḥ
kuru karmaiva tasmāt tvaḿ
pūrvaiḥ pūrvataraḿ kṛtam
Translation
All the liberated souls in ancient times acted with this understanding of My transcendental nature. Therefore you should perform your duty, following in their footsteps.