
Actions which are free from self-interest lead to Thaarakam (liberation).
(From : Garland of 1008 Gems, Bhagawan Shri Sathya Sai Baba's Sayings)
The first step in Atmavichara (enquiry into the nature of the Atma) is the practice of the truth that whatever gives you pain gives pain to others and whatever gives you joy gives joy to others. So, do unto others, as you would like them to do unto you.