5:19  

इहैव तैर्जितः सर्गो येषां साम्ये स्थितं मनः ।
निर्दोषं हि समं ब्रह्म तस्माद्ब्रह्मणि ते स्थिताः ॥५- १९॥

ihaiwa tairjitaH sargo yeShaaM saamye sthitaM manaH ।

nirdoShaM hi samaM brahma tasmaadbrahmaNi te sthitaaH ॥५- १९॥

Source: Automatic ITRANS Transliteration

They conquer this very world here, whose minds are established in equanimity.

Through fault-free universal equanimity, they are established in Brahman.

Source: Milind S. Pandit

Everything has been accomplished in this very life by those whose mind is set in equality. Such a person has realized Brahman because Brahman is flawless and impartial. (See also 18.55)

Source: The Bhagavad-Gita: The Sacred Song

Those whose minds are established in sameness and equanimity have already conquered the conditions of birth and death. They are flawless like Brahman, and thus they are already situated in Brahman.

Source: Bhagavad Gita As It Is