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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।।

English Translation - Swami Gambirananda

5.7 Endowed with yoga, [i.e. devoted to the performance of the nitya and naimittika duties.] pure in mind, controlled in body, a coneror of the organs, the Self of the selves of all beings-he does not become tainted even while performing actions. [The construction of the sentence is this: When this person resorts to nitya and naimittika rites and duties as a means to the achievement of fully Illumination, and thus becomes fully enlightened, then, even when he acts through the apparent functions of the mind, organs, etc., he does not become afflected.]

English Translation of Ramanuja's Sanskrit Commentary

5.7 But a Karma Yogin remains engaged in the performance of pure actions prescribed by the Sastras, which are of the nature of propitiation of the Supreme Person. By this, he becomes purified in mind. He thus subdues his self, i.e., subdues his mind easily, because his mind is engaged in the virtuous actions he has been performing before. Therefore his senses are subdued. His self is said to have become the self of all beings. Because of his being devoted to contemplation on the true nature of the self, he finds that his self is similar to the self of all beings like gods etc. One who contemplates on the true nature of the self understands that all selves are of the same form or nature. The distinctions obtaining among gods, men etc., cannot pertain to the form of the self, because those distinctions are founded on particular modifications of Prakrti i.e., the bodies of beings. Sri Krsna will teach: For the Brahman (an individual self), when untainted, is the same everywhere (5.19). The meaning of this is that when dissociated from the Prakriti, i.e., the body, the self is of the same nature everywhere, i.e., in the bodies of gods, men etc. It is of the same form of knowledge. The meaning is that one, who has become enlightened in this way, active though he be, is not tainted on account of erroneously conceiving what is other than the self (the body) as the self. He is not at all associated therewith. Therefore, he attains the self without any delay. As Karma Yoga is superior to Jnana Yoga because it is more easily pursued and is more rapidly efficacious in securing the fruits, listen to its reirement:

Transliteration Bhagavad Gita 5.7

Yogayukto vishuddhaatmaa vijitaatmaa jitendriyah; Sarvabhootaatmabhootaatmaa kurvannapi na lipyate.

Word Meanings Bhagavad Gita 5.7

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