16:23  

यः शास्त्रविधिमुत्सृज्य वर्तते कामकारतः ।
न स सिद्धिमवाप्नोति न सुखं न परां गतिम् ॥१६- २३॥

yaH shaastrawidhimutsRRijya wartate kaamakaarataH ।

na sa siddhimawaapnoti na sukhaM na paraaM gatim ॥१६- २३॥

Source: Automatic ITRANS Transliteration

Whosoever, having disregarded scholarly injunctions, behaves motivated by lusts,
Neither attains perfection, nor joy, nor the transcendent state.

Source: Milind S. Pandit

One who acts under the influence of their desires, disobeying scriptural injunctions, neither attains perfection nor happiness nor the supreme goal.

Source: The Bhagavad-Gita: The Sacred Song

But he who discards scriptural injunctions and acts according to his own whims attains neither perfection, nor happiness, nor the supreme destination.

Source: Bhagavad Gita As It Is