In Krsna's instructions to Arjuna, He emphasizes duty both 
for the common man and for the self-realized soul.

sva-dharmam api caveksya
na vikampitum arhasi
dharmyad dhi yuddhac chreyo 'nyat
ksatriyasya na vidyate

"Considering your specific duty as a ksatriya, you should know that there is no better engagement for you than fighting on religious principles; and so there is no need for hesitation." (Bhagavad-gita 2.31)

Kali Purushan Parikshit

Sva-dharmam. Sva means "own," and dharmam means "occupation." According to Vedic civilization, everyone has his sva-dharma. This has been misinterpreted by rascals who say that sva-dharma means anyone can discover his own religious principle. Yata mata tata patha: "Whatever you think is a religious principle, that's all right." This is going on. But that is not the meaning. Sva-dharma means "own occupation." Actually, dharma means "that which you