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Bhagavad Gita Chapter 5 Verse 7

भगवद् गीता अध्याय 5 श्लोक 7

योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः।
सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते।।5.7।।

हिंदी अनुवाद - स्वामी तेजोमयानंद

।।5.7।। जो पुरुष योगयुक्त विशुद्ध अन्तकरण वाला शरीर को वश में किये हुए जितेन्द्रिय तथा भूतमात्र में स्थित आत्मा के साथ एकत्व अनुभव किये हुए है वह कर्म करते हुए भी उनसे लिप्त नहीं होता।।

Kumara Vaishnava Sampradaya - Commentary

One who performs karma yoga or prescribed Vedic activities without desire for rewards is the one who factually fulfils the sacred canons of the Vedic scriptures which are actually the method of worshipping the Supreme Lord. By such worship one becomes visuddhatma or of purified intelligence and is vijitatma or of controlled mind being absorbed in such worship and by this absorption one is jitendriyah or of restrained senses. Such a person is sarva-bhutama or one who realising their own atma or soul and perceiving the atma in all beings as being the same atma existing within unlimited variegated forms. Such a person views all beings not by the manifest forms they exhibit in their lifetime; but rather the intrinsic nature of the eternal atma within which is the essential nature of all embodied beings. A person situated in this consciousness is never infatuated or deluded by the erroneous idea of thinking that a temporary material substance can ever by equated to the eternal soul. Such a person due to this understanding is never bound by actions although performing activities and in a relatively short time achieves atma tattva or realisation of the soul. As karma yoga has been declared to be easy to perform and soon to reach fulfilment, the means required to enable one to accomplish it Lord Krishna describes next.