Bhagavad Gita · 4.21

निराशीर्यतचित्तात्मा त्यक्तसर्वपरिग्रहः।शारीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम्॥

nirāśhīr yata-chittātmā tyakta-sarva-parigrahaḥ śhārīraṁ kevalaṁ karma kurvan nāpnoti kilbiṣham

Free from expectations, with mind and body controlled, having given up all sense of ownership — performing only bodily action, such a person incurs no sin.

— Bhagavad Gita 4.21

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