Doing daily or complex activities without attachment

Is it truly possible to do activities without expectations or some aspect of the self ideal attached to them? Does the Buddha explain anything of the sort? If yes, how to go about achieving that? It could be something like what the *Bhagavad Gita* says. We could do those tasks mindfully, but they could be complex thinking activities, necessary to achieve some final goal, so we cannot dismiss them as "thinking, thinking". Consequentially, there is a chance that we may get lost in our thoughts and feelings may creep in. Maybe this is another question, but did the more complicated concepts and practice techniques Gautama described attach to the context of that day and age? And maybe they are only best suited for monks? (Maybe we shouldn't take them to the workplace or family.)