Bhagavad Gita: Chapter 4/Verse 21

निराशीर्यतचित्तात्मा त्यक्तसर्वपरिग्रहः ।
शारीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम् ॥४-२१॥

nirāśīryatacittātmā tyaktasarvaparigrahaḥ ।
śārīraṃ kevalaṃ karma kurvannāpnoti kilbiṣam ॥4-21॥

Free of desire, the self with the mind controlled, attainment of complete surrender, one does not incur fault performing action only related to the body. 



Word-for-word translations

nirāśīs (masculine, nominative, singular) = free of desire

yatacittātmā (yata + citta + ātmā) (masculine, nominative, singular) = the self with the mind controlled 

tyaktasarvaparigrahas (tyakta + sarva + parigrahas) (masculine, nominative, singular) = attainment of complete surrender 

śārīram (neuter, accusative, singular) = related to the body

kevalam (neuter, accusative, singular) = only

karma (neuter, accusative, singular)  = action

kurvan (participle, masculine, nominative, singular) = performing 

na (adverb) (indeclinable) = not

āpnoti (present tense, 3rd person, singular) = he incurs 

kilbiṣam (neuter, accusative, singular) = fault