Bhagavad Gita 4.21 Chapter 4, Verse 21

निराशीर्यतचित्तात्मा त्यक्तसर्वपरिग्रहः ।
शारीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम् ॥४.२१॥

nirāśīryatacittātmā tyaktasarvaparigrahaḥ
śārīraṃ kevalaṃ karma kurvannāpnoti kilbiṣam

Meaning

Without expectations, with mind and body controlled, giving up all possessiveness and doing only bodily work, one incurs no sin.

Newly written by Bhajan Dhun — scholarly review in progress.

Reference: Bhagavad Gita 4.21 (Chapter 4, The Yoga of Knowledge and Renunciation of Action, Verse 21)