nirmānamohā jitasaṅgadoṣāadhyātmanityā vinivṛttakāmāḥ |dvandvairvimuktāḥ sukhaduḥkhasaṃjñairgacchantyamūḍhāḥ padamavyayaṃ tat ||
Free from pride and delusion, having overcome the fault of attachment, always rooted in the Self, with desires turned away, freed from the pairs of opposites known as pleasure and pain, those who are not deluded reach that imperishable state.
Explanation
Krishna has just said that the state from which there is no return must be sought, and now describes who reaches it. Such people are free of pride, delusion, attachment (saṅga) and craving, and they stay steady in the Self (adhyātma), released from the pull of pleasure and pain. Traditions differ on what that imperishable state is: Advaita reads it as the Self's own nature, while devotional schools read it as Krishna's own supreme abode.