Verse 5.7

योगयुक्तो विशुद्धात्मा विजितात्मा जितेन्द्रियः। सर्वभूतात्मभूतात्मा कुर्वन्नपि न लिप्यते।।5.7।।

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

Meaning

If you're all about that action, your mind is pure, you've conquered yourself, you've got your senses on lock, and you realize you're one with everyone, then even if you're doing stuff, you won't get tainted.

Commentary

Yo, if you're all about that action, your mind's pure, you've totally mastered yourself and your senses, and you realize you're one with everyone, then even if you're doing stuff, you won't get dragged down by it. It's like, you're doing good, setting an example, and that's not gonna mess you up.