5.7 योगयुक्तः devoted to the path of action, विशुद्धात्मा a man of purified mind, विजितात्मा one who has conered the self, जितेन्द्रियः one who has subdued his senses, सर्वभूतात्मभूतात्मा one who realises his Self as the Self in all beings, कुर्वन् acting, अपि even, न not, लिप्यते is tainted.Commentary: He who is harmonised by Yoga, i.e., he who has purified his mind by devotion to the performance of action, who has conered the body and who has subjugated the senses, whose Self is the Self of all beings, he will not be bound by actions although he performs actions for the wellbeing or protection of the masses in orer to set an example to them. (Cf.XVIII.17)