3.31 Ye, those; manavah, men; who (nityam, ever;) anutisthanti, follow accordingly; me matam, My teaching- this teaching of Mine, viz that 'duty must be performed', which has been stated with valid reasoning; sraddhavantah, with faith; and anasuyantah, without cavil, without detracing Me, Vasudeva, the Teacher [Here Ast. adds 'parama, supreme'-Tr.]; te api, they also, who are such; mucyante, become freed; karmabhih, from actions called the righteous and the unrighteous.