Bhagavad Gita · 5.25

लभन्ते ब्रह्मनिर्वाणमृषयः क्षीणकल्मषाः।छिन्नद्वैधा यतात्मानः सर्वभूतहिते रताः॥

labhante brahma-nirvāṇam ṛṣhayaḥ kṣhīṇa-kalmaṣhāḥ chhinna-dvaidhā yatātmānaḥ sarva-bhūta-hite ratāḥ

The sages whose sins are destroyed, whose doubts are cut asunder, who are self-controlled, and who are devoted to the welfare of all beings — they attain liberation in Brahman.

— Bhagavad Gita 5.25

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