Bhagavad Gita, Chapter 4, Verse 41

With work renounced by Yoga and doubts rent asunder by knowledge, O Dhananjaya, actions do not bind him who is poised in the Self.

Once real clarity replaces the doubt, the same actions that used to weigh someone down simply stop sticking.

This is the resolution of the doubt named in the previous verse. Genuine understanding doesn't just answer questions intellectually, it actually changes whether ordinary action keeps leaving its usual mark.