3:31  

ये मे मतमिदं नित्यमनुतिष्ठन्ति मानवाः ।
श्रद्धावन्तोऽनसूयन्तो मुच्यन्ते तेऽपि कर्मभिः ॥३- ३१॥

ye me matamidaM nityamanutiShThanti maanawaaH ।

shraddhaawanto'nasooyanto muchyante te'pi karmabhiH ॥३- ३१॥

Source: Automatic ITRANS Transliteration

Who to this my belief are forever resolved, mortals
Full of faith, without spite, it is they who liberate from action.

It is those mortals full of faith and without spite, forever resolved to this my belief, who are liberated from action.

Source: Milind S. Pandit

Those who always practice this teaching of Mine, with faith and free from cavil, are freed from the bondage of Karma.

Source: The Bhagavad-Gita: The Sacred Song

One who executes his duties according to My injunctions and who follows this teaching faithfully, without envy, becomes free from the bondage of fruitive actions.

Source: Bhagavad Gita As It Is