The realized yogi continues to function and act in the world, but in a way that is free. She is free from the desires of motivation and free from the desires of the rewards of action.
The yogi is utterly disinterested but paradoxically full of the engagement of compassion. She is in the world but not of it. The yogi is beyond cause and effect, action and reaction.
Later we shall see the role that Time plays in this — how there is freedom because the Illusion of Time no longer exists to bind us to the past and future.
~ from Light on Life, by B.K.S. Iyengar