BG 5.7
योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः ।
सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते ॥
सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते ॥
yoga-yukto viśuddhātmā vijitātmā jitendriyaḥ
sarva-bhūtātma-bhūtātmā kurvann api na lipyate
sarva-bhūtātma-bhūtātmā kurvann api na lipyate
Word-for-word meanings
yoga-yuktaḥ — one who adheres to the path of selfless action (karma-yoga); viśuddha-ātmā — who is pure in heart; vijita-ātmā — who has conquered his mind; jita-indriyaḥ — who has conquered his senses; ātma-bhūta-ātmā — [and] whose self has become the self [i.e., is as dear as the self]; sarva-bhūta — [to] all living beings; na lipyate — is never tainted; kurvan api — even while engaged in action.
Translation
One who adheres to the path of selfless action (karma-yoga), who is pure in heart, who has conquered his mind and senses, and who is as dear as the self to all living beings is never tainted, even while engaged in action.