5:7  

योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः ।
सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते ॥५- ७॥

yogayukto wishuddhaatmaa wijitaatmaa jitendriyaH ।

sarwabhootaatmabhootaatmaa kurwannapi na lipyate ॥५- ७॥

Source: Automatic ITRANS Transliteration

The yoga-adherent, pure-souled, soul-winning lord of the senses,
Being the soul in the soul of all beings, even doing work is not stuck.

Source: Milind S. Pandit

A Karma-yogi whose mind is pure, whose mind and senses are under control, and who sees one and the same Self in all beings, is not bound (by Karma) though engaged in work.

Source: The Bhagavad-Gita: The Sacred Song

One who works in devotion, who is a pure soul, and who controls his mind and senses, is dear to everyone, and everyone is dear to him. Though always working, such a man is never entangled.

Source: Bhagavad Gita As It Is