This is a question for English majors.
Take the following sentence:
"Our beings flared with passion, bearing witness of one accord to the man who made us whole."
Our beings flared with passion is the independent clause. In contrast, bearing witness of one accord to the man who made us whole is the dependent clause. There is no conjunction here so I believe that's irrelevant to the question.
The book that I'm using as reference hasn't offered much clarity as to when commas should be used. So I looked online, where I found that a comma should link the two if the dependent clause comes first but not if it comes afterward.
This would suggest that the comma in the aforementioned passage is inappropriate. However:
"Our beings flared with passion bearing witness of one accord to the man who made us whole."
My gut tells me that there should be a comma here.
While it's true that, for the purposes of most people 99% of the time, it doesn't matter if your writing abides to the rules so strictly or not, I would like a precise answer to this question if possible.