The grudges and hatred we carry are a major source of our misery which we develop when others harm us through their words and deeds or when others don't acknowledge our help or favours. The root cause of hatred is our assumption that we as well as others are ๐ ๐๐ง๐ฉ๐๐ (doer) which leads to ๐ผ๐๐๐ฃ๐ ๐๐๐ง (๐๐๐๐ข-๐ ๐๐ง๐ฉ๐๐ or I am doer) whereas our ๐๐ช๐ฃ๐๐จ (characters) are in fact, the real ๐ ๐๐ง๐ฉ๐๐. This leads to ๐ ๐๐ง๐ข๐-๐๐๐ฃ๐๐๐๐ฃ (bondage of action) of grudges and hatred as we are bound to 'others' for life. To overcome this, Krishna earlier advised us to drop ๐๐ฌ๐๐จ๐ (hatred) while performing ๐ ๐๐ง๐ข๐๐จ at hand (5.3).
Krishna further says, "Whatever you do, whatever you eat do them as an offering to Me" (9.27). Earlier Krishna said that (2.14) one should be aware about the polarities of pain and pleasure generated during the interaction of senses and sense objects; and learn to ignore them as they are transient (๐๐๐ฃ๐ ๐๐ฎ๐ ๐๐ค๐๐). Using eating as an example, He now says to offer that interaction to HIM (๐ฝ๐๐๐ ๐ฉ๐ ๐๐ค๐๐). Both of these paths are to transcend polarities to be ๐ฟ๐ฌ๐๐ฃ๐๐ฌ๐-๐๐ฉ๐๐๐ฉ๐ (beyond polarities).
Secondly, Krishna says whatever we do, do it as an offering to HIM. This is nothing but offering our sense of doer-ship to HIM while performing the ๐ ๐๐ง๐ข๐๐จ and in other words offering ๐ผ๐๐๐ฃ๐ ๐๐๐ง to HIM. Krishna assures that when we implement them we will be free of ๐๐๐ง๐ข๐ ๐๐๐ฃ๐๐๐๐ฃ (9.28) where nothing in this world can affect us as one attains ultimate freedom (๐ข๐ค๐ ๐จ๐๐).
Measuring our progress in the spiritual journey of joy is a difficult job as either our or others' outward behaviour is no indicator. The degree of ๐๐๐ง๐ข๐ ๐๐๐ฃ๐๐๐๐ฃ in terms of grudges and hatred generated in us by the events of the external world is a great indicator of our progress.