Bhagavad Gita · Chapter 9: The Royal Knowledge and Royal Secret

Bhagavad Gita 9.20

traividyā māṃ somapāḥ pūtapāpā yajñairiṣṭvā svargatiṃ prārthayante | te puṇyamāsādya surendraloka- maśnanti divyāndivi devabhogān ||

Those who know the three Vedas, who drink the soma and are cleansed of sin, worship me with sacrifices and pray for the way to heaven. Reaching the holy world of the king of the gods, they enjoy the pleasures of the gods in heaven.

Modern context

Those who perform the Vedic rituals properly are rewarded with heaven and its pleasures. The verse does not dismiss them; they are 'cleansed of sin' and their worship is real. But notice what they pray for: a better place to enjoy themselves. It is still desire, only aimed higher. A great deal of religion everywhere works this way. It is not wrong, but the next verse shows its limit.