Bhagavad Gita · 2.64

रागद्वेषवियुक्तैस्तु विषयानिन्द्रियैश्चरन्।आत्मवश्यैर्विधेयात्मा प्रसादमधिगच्छति॥

rāga-dveṣha-viyuktais tu viṣhayān indriyaiśh charan ātma-vaśhyair vidheyātmā prasādam adhigachchhati

But one who moves among sense objects with senses under control, free from attraction and aversion, and governed by the Self — such a person attains tranquility.

— Bhagavad Gita 2.64

Source: Sacred-Texts.com (Sanskrit) + Bhagavad-Gita.io (translations)