Shankara’s explanation in Bhagavad Gita bhāṣya 2.21
[Note that this is a ‘stand-alone’ article which nevertheless supplements the material asking ‘Who am I?’ in the pratibandha posts beginning https://www.advaita-vision.org/pratibandha-s-part-5-of-7/. It provides a response to Venkat’s challenge at https://www.advaita-vision.org/verse1-of-drg-drsya-vivek-an-analysis-of/#comment-9797]
Reality is non-dual. All Advaitins know that this is the teaching, even if they have not yet succeeded in reconciling this with the appearance of the world and their own apparent individuality.
The Self does not act. The jñānī knows this. The well-known statement in Bhagavad Gita 5.8-9 tells us that: The balanced person who knows the truth thinks: ‘I do nothing at all; it is only the senses relating to their sense objects,’ even whilst seeing, hearing, touching, smelling, eating, going, sleeping, breathing, speaking, excreting or grasping; even just opening or closing the eyes. It is all simply the ‘play of the guṇa-s’, name and changing form, like the movement of waves on the surface of the ocean – all is always only water.
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Dhruva was an adorable little boy. He saw his half-brother, Uttama, sitting and playing on the lap of their father, King Uttanapada. He too desired to climb on to the lap of Uttanapada. But his step-mother could hardly tolerate that. She gave a tight slap to him declaring that he was unfit to sit on the lap of the King as he was not born to her but to another queen. Crest-fallen and deeply hurt, the little kid, with his eyes full of tears, ran to his mother. His mother, a highly noble lady, consoled him and advised that he should achieve something so that people look at him with awe. The little Dhruva left the royal palace and went away to a distant forest. He met with a group of Sages in the forest and narrated to them his soulful story. They advised him to meditate on Vishnu. So, he embarked on a very austere and rigorous course of meditation. Regretting heavily the developments, the King and all his retinue, his mother, the queen and all his family implored that he should give up his askesis and return home. The King was even ready to abdicate the throne and promised to coronate him. But Dhruva was unrelenting. He did not succumb to the temptations and was uncompromising in his resolve. He pursued his meditation with greater vigor. He meditated on Vishnu, the Ultimate. 
