Bhagavad Gita 5.7 Chapter 5, Verse 7

योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः ।
सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते ॥५.७॥

yogayukto viśuddhātmā vijitātmā jitendriyaḥ
sarvabhūtātmabhūtātmā kurvannapi na lipyate

Meaning

One who is devoted to yoga, pure in mind, master of body and senses, and who sees their own Self in all beings, is not tainted though acting.

Newly written by Bhajan Dhun — scholarly review in progress.

Reference: Bhagavad Gita 5.7 (Chapter 5, The Yoga of Renunciation (Karma Sannyasa Yoga), Verse 7)