Bhagavad Gita 4.21

निराशीर्यतचित्तात्मा त्यक्तसर्वपरिग्रह: ।
शारीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम्  ॥

nirāśīr-yata-cittātmā tyakta-sarva-parigraha:
śārīraṃ kevalaṃ karma kurvann-āpnoti kilbiṣam – 4.21 

Bereft of desires, with sufficient restraint over mind and senses, eschewing all kinds of gifts or gains, doing only bodily (physical) activities, one will not incur sin at all.