Here is the Sanskrit anuvad, Hindi anuvad, and English translation of Jnana-Karma-Sanyasa Yoga Chapter 4, Verse 4.21.
Sanskrit
निराशीर्यतचित्तात्मा त्यक्तसर्वपरिग्रहः । शारीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम् ॥ ४.२१ ॥
Hindi
जिसका अन्तःकरण और इन्द्रियोंके सहित शरीर जीता हुआ है और जिसने समस्त भोगोंकी सामग्रीका परित्याग कर दिया है, ऐसा आशारहित पुरुष केवल शरीर-सम्बन्धी कर्म करता हुआ भी पापोंको नहीं प्राप्त होता|
English
That person, O Arjuna, who has conquered his body and mind, who has given up all enjoyments and pleasures of the world, and who performs action only for the sake of maintaining his body, does not encounter or subiect himself to sin.