Bhagavad Gita, Chapter 5, Verse 19

इहैव तैर्जितः सर्गो येषां साम्ये स्थितं मनः । निर्दोषं हि समं ब्रह्म तस्माद् ब्रह्मणि ते स्थिताः

ihaiva tairjitaḥ sargo yeṣāṃ sāmye sthitaṃ manaḥ | nirdoṣaṃ hi samaṃ brahma tasmād brahmaṇi te sthitāḥ

Translation

Even here birth is overcome by them whose mind rests on equality. Spotless, indeed, and equal is Brahman; wherefore in Brahman they rest.

— Alladi Mahadeva Sastri

Word meanings

iha
here
eva
even
taiḥ
by those
jitaḥ
conquered
sargaḥ
rebirth or creation
yeṣām
of whom
sāmye
in equality
sthitam
established
manaḥ
mind
nirdoṣam
spotless
hi
indeed
samam
equal
brahma
Brahman
tasmāt
therefore
brahmaṇi
in Brahman
te
they
sthitāḥ
established

Śaṅkarācārya's commentary

Even while living here on earth, birth has been brought under control by those sages who see the One, and whose intuition (antaḥ-karaṇa) rests unwavering on the equality of Brahman in all creatures. Though, to the ignorant, Brahman in such impure bodies as those of dog-eaters and the like appears to be contaminated by their impurities, yet He is unaffected by them and is therefore spotless. Further, He is not heterogeneous either, owing to any heterogeneous attributes inherent in Himself; for consciousness (chaitanya) has no attributes. Hence Brahman is homogeneous and one. Wherefore they rest in Brahman only. No blemishes of bodies can affect them, since they have no egotism and do not identify themselves with the aggregate of the body and the like.