योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः ।सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते ॥
yogayukto viśuddhātmā vijitātmā jitendriyaḥ |sarvabhūtātmabhūtātmā kurvannapi na lipyate ||
One who is disciplined in yoga, whose mind is pure, who has mastered the self and conquered the senses, and whose self has become one with the self of all beings, is not tainted, even while acting.
Explanation
Krishna is answering Arjuna's question about whether renouncing action or acting is better, and he continues praising karma yoga (the discipline of selfless action). A person who is purified, self-controlled and sees themselves in all beings acts without being stained (lipyate) by what they do. Commentators differ on the emphasis: some stress the yoga of action here, others read it as a description of the knower of the Self, but the verse itself does not settle this.