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Chapter 4, Verse 21

निराशीर्यतचित्तात्मा त्यक्तसर्वपरिग्रहः। शारीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम्।।4.21।।

nirāśīryatacittātmā tyaktasarvaparigrahaḥ. śārīraṃ kevalaṃ karma kurvannāpnoti kilbiṣam..4.21..

Word by word

निराशीः
free from expectation/hope
यतचित्तात्मा
one whose mind and self are controlled
त्यक्तसर्वपरिग्रहः
one who has abandoned all possessions/acquisitions
शारीरम्
bodily (pertaining to the body)
केवलम्
mere, only
कर्म
action
कुर्वन्
performing, doing
न आप्नोति
does not incur/attain
किल्बिषम्
sin, fault

Commentary

21. Free from desire, with the mind and the self controlled, having relinquished all possessions doing mere bodily action, he incurs no sin.

Source: Alladi Mahadeva Sastri, The Bhagavad-Gita with the Commentary of Sri Shankaracharya (1897), public domain

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Sanskrit (in order)

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निराशीः
यतचित्तात्मा
त्यक्तसर्वपरिग्रहः
शारीरम्
केवलम्
कर्म
कुर्वन्
न आप्नोति
किल्बिषम्

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