4:21  

निराशीर्यतचित्तात्मा त्यक्तसर्वपरिग्रहः ।
शारीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम् ॥४-२१॥

niraashiiryatachittaatmaa tyaktasarwaparigrahaH ।

shaariiraM kewalaM karma kurwannaapnoti kilbiSham ॥४-२१॥

Source: Automatic ITRANS Transliteration

Unexpectant, controlling thought, self, giving up possession of everything,
Only for the constitution, performing actions, [one] never incurs sin.

Expecting nothing, controlling the self and thoughts, giving up possessiveness of everything, acting only to maintain the constitution, [one] never incurs sin.

Source: Milind S. Pandit

Free from desires, mind and senses under control, renouncing all proprietorship, doing mere bodily action, one does not incur sin (or Karmic reaction).

Source: The Bhagavad-Gita: The Sacred Song

Such a man of understanding acts with mind and intelligence perfectly controlled, gives up all sense of proprietorship over his possessions and acts only for the bare necessities of life. Thus working, he is not affected by sinful reactions.

Source: Bhagavad Gita As It Is