योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः। सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते।।5.7।।
yoga-yukto viśhuddhātmā vijitātmā jitendriyaḥ sarva-bhūtātma-bhūtātmā kurvann api na lipyate
yoga-yuktaḥ—united in consciousness with God; viśhuddha-ātmā—one with purified intellect; vijita-ātmā—one who has conquered the mind; jita-indriyaḥ—having conquered the senses; sarva-bhūta-ātma-bhūta-ātmā—one who sees the Soul of all souls in every living being; kurvan—performing; api—although; na—never; lipyate—entangled
He who is devoted to the path of action, whose mind is pure, who has conquered the self, who has subdued his senses, and who realizes his Self as the Self in all beings, though acting, is not tainted.
5.7 योगयुक्तः devoted to the path of action? विशुद्धात्मा a man of purified mind? विजितात्मा one who has conered the self? जितेन्द्रियः one who has subdued his senses? सर्वभूतात्मभूतात्मा one who realises his Self as the Self in all beings? कुर्वन् acting? अपि even? न not? लिप्यते is tainted.Commentary He who is harmonised by Yoga? i.e.? he who has purified his mind by devotion to the performance
of action? who has conered the body and who has subjugated the senses? whose Self is the Self of all beings? he will not be bound by actions although he performs actions for the wellbeing or protection of the masses in orer to set an example to them. (Cf.XVIII.17)