"Beneficial action" is to benefit all classes of sentient beings skillfully, that is, to care about their distant and near future and to help them by… - Dōgen

Each moment of zazen is equally wholeness of practice, equally wholeness of realization. This is not only practice while sitting, it is like a hammer striking emptiness: before and after, its exquisite peal permeates everywhere. How can it be limited to this moment?

Treading along in this dreamlike, illusory realm,
Without looking for the traces I may have left;
A cuckoo's song beckons me to return home;
Hearing this, I tilt my head to see
Who has told me to turn back;

But do not ask me where I am going,
As I travel in this limitless world,
Where every step I take is my home.

As long as you try to figure out buddha dharma with mind, you can never attain it even for myriad eons or thousands of lifetimes. It is attained by letting go of the mind and abandoning views and interpretations.