The highest Dharma is for each one to follow his Swa - (own) dharma boldly. As regards this problem, there is a conflict between religion and morals. "Gahana karmano gathih", "It is difficult, fraught with danger" says the Lord, speaking of the moral discipline. Which act is legitimate, which not? Which act is sanctioned by morals, which not? Persons have struggled and are struggling to decide these. But Krishna has mentioned the type of acts which are worthy, in the Slokas:

Manmanaa bhava madbhaktho mad yajee maam namaskuru
Maamevaishyasi sathyam the, prathijaane priyo si me.
Sarva dharmaan parithyajya maamekam saranam vraja
Aham thwaam sarva paapebhyo mokshayaishyami maa suchah.

"Fix thy thought on Me; be devoted to Me; worship Me; do homage to Me; thou shalt reach Me. The Truth do I declare to thee; for thou art dear to Me. This is my teaching, My grace."
"This is the path to come to Me. Give up all Dharmas; surrender to Me; do not grieve; I shall liberate you from the consequences of all your acts."

Ah! Note the meaning and significance of these two stanzas. Is not this act of surrender enough to save you and to liberate you from the round of coming to - staying in - and leaving from this world? Thanmana - that is, seeing Him in every being, being aware of Him every moment of existence, being immersed in the Ananda of this awareness; Thadbhaktha - that is, merged in the relationship caused by profound devotion and love to Him; That-yaji - all acts, big and small, dedicated to Him, Krishna, (wish, will, attitude, activity, fruit, consequence) everything from beginning to end, the renunciation of all attachment to the self and the performance of all acts in a spirit of worshipful non-attachment. This is what the Lords seeks from you.

Of course, it is hard to effect this full surrender. But if man makes the slightest effort towards it, the Lord Himself will confer the courage to pursue it to the end. He will walk with him and help him as a friend; He will lead me as a guide; He will guard him from evil and temptation; He will be his staff and support. He has said, "Swalpamapyasya Dharmasya thrayathe mahatho bhayaath" (this course of action, if followed even to a small extent, will save him from terrifying fear). To follow Dharma is itself a source of joy; it is the path least beset with hurdles. That is the teaching of the Lord.