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Chapter 5, Verse 7

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

yogayukto viśuddhātmā vijitātmā jitendriyaḥ. sarvabhūtātmabhūtātmā kurvannapi na lipyate.5.7.

Word by word

योगयुक्तः
one who is united/disciplined in yoga (yoga-yukta)
विशुद्धात्मा
whose self/mind is thoroughly purified
विजितात्मा
who has conquered/mastered the self
जितेन्द्रियः
who has subdued the senses
सर्वभूतात्मभूतात्मा
whose self has become the self of all beings (identifies with all creatures)
कुर्वन्
acting; doing (present participle)
अपि
even; although
not
लिप्यते
is tainted/affected (passive verb)

Commentary

7. He who is equipped with Yoga, whose mind is quite pure, by whom the self has been conquer- ed, whose senses have been subdued, whose Self has become the Self of all beings,— though doings he is not tainted.

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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योगयुक्तः
विशुद्धात्मा
विजितात्मा
जितेन्द्रियः
सर्वभूतात्मभूतात्मा
कुर्वन्
अपि
लिप्यते

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