Bhagavad Gita Chapter 5, Verse 7

योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः | सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते ||

yoga-yukto viśuddhātmā vijitātmā jitendriyaḥ sarva-bhūtātma-bhūtātmā kurvann api na lipyate

One engaged in yoga, with purified self, who has conquered the self and senses, and who sees the Self in all beings—even while performing actions, he is not bound.

Krishna describes the characteristics of a true yogi: one engaged in yoga (yoga-yuktaḥ) with purified self (viśuddhātmā), who has conquered the self (vijitātmā) and senses (jitendriyaḥ), and who sees the Self in all beings (sarva-bhūtātma-bhūtātmā). The key phrase: 'kurvann api na lipyate'—even while performing actions (kurvan api), he is not bound (na lipyate). This means the yogi acts without attachment—actions don't create bondage because there's no attachment to results. The yogi sees the same Self in all beings, so there's no sense of separateness that creates attachment. This is the state of true karma yoga—action without bondage.