In classical physics, the action $S$ is defined as the time integral of the Lagrangian $L$, i.e.
$$ S = \int_{t_0}^{t_1} L\, dt. $$
What is the relation between the action, for a point particle, and the Lagrangian in general relativity? If we integrate $L$, do we integrate it over the time $t$ as measured by some observer, the proper time $\tau$, or can we even use any parameter $\lambda$ that is used to parameterize the worldline(s) of the object(s) in the system?