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17.24 Beginning with Om Krishna speaks

तस्मादोमित्युदाहृत्य यज्ञदानतपःक्रियाः
प्रवर्तन्ते विधानोक्ताः सततं ब्रह्मवादिनाम्

tasmād oṁ ity udāhṛitya yajña-dāna-tapaḥ-kriyāḥ
pravartante vidhānoktāḥ satataṁ brahma-vādinām

So those who speak of Brahman always begin the acts of offering, giving and austerity with the utterance of Om, as the scriptures direct.

Explanation

Om, at the start.

Those who speak of Brahman begin offering, giving and austerity with the utterance — as directed.

It is the plainest, most procedural verse in a chapter otherwise about interiors. Placed here, immediately after 17.23, it reads as the answer to Arjuna's original question: the form matters too, and it is not much to observe.

Word by word

tasmāt
therefore
om
sacred syllable om
iti
thus
udāhṛitya
by uttering
yajña
sacrifice
dāna
charity
tapaḥ
penance
kriyāḥ
performing
pravartante
begin
vidhāna-uktāḥ
according to the prescriptions of Vedic injunctions
satatam
always
brahma-vādinām
expounders of the Vedas