Bhagavad Gita 4.21

निराशेर्यत्चित्तात्मा त्यक्तसर्वपरिग्रह: |
शरीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम्

Translation

Free from expectations and the sense of ownership, with the mind and intellect fully controlled, they incur no sin even though performing actions by their body.