Bhagavad Gita · 5.7

योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः।सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते॥

yoga-yukto viśhuddhātmā vijitātmā jitendriyaḥ sarva-bhūtātma-bhūtātmā kurvann api na lipyate

One who is united in yoga, whose mind is purified, whose self is conquered, whose senses are subdued, and who sees the Self in all beings — such a person is not tainted even while performing actions.

— Bhagavad Gita 5.7

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