योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः। सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते ॥

yoga-yukto viśhuddhātmā vijitātmā jitendriyaḥ sarva-bhūtātma-bhūtātmā kurvann api na lipyate

He who is harmonised by yoga, the self purified, Self -ruled, the senses subdued, whose Self is the Self of all beings, although acting he is not affected.

In plain words: Krishna says that a person who is steady in yoga, pure, self-controlled, and master of their senses, and who sees their own self in every living being, is not harmed or tied down by their actions, even while acting.