Bhagavad Gītā Chapter Five verse 7

योगयुक्तो विश‍ुद्धात्मा विजितात्मा जितेन्द्रिय: ।
सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते ॥ ७ ॥

yoga-yukto viśuddha-ātmā vijita-ātmā jita-indriyaḥ |
sarva-bhūta-ātma-bhūta-ātmā kurvann api na lipyate ||

yoga - the act of yoking, joining, attaching, harnessing; a yoke, team, vehicle, conveyance; employment, use, application, performance; a means, expedient, device, way, manner, methodyukta - connected; skilful; made use of; yoked or joined or fastened or attached or harnessed to; set to work, made use of, employed, occupied with, engaged in; skilful, clever, experienced in, familiar with; fit, suitable, appropriate, proper, right, establishedviśuddhi - special purity; complete purification, purity; rectification, removal of error or doubtātman - essence; the highest personal principle of life; the individual soul, selfindriya - faculty of sense; sense; organ of sense; organs of motor action and sensory perceptionsarva - whole, entire, all, every one; altogether, wholly, completely, in all parts, everywherebhūta - material element, one of the 5 elements; that which is or exists, any living being; being or being like anything, consisting of, mixed or joined withapi - even, also, although; very; something more; moreover