Bhagavad Gita chapter 5 verse 7

“yogayukto visuddhatma vijitatma jitendriyah sarvabhutatmabhutatma kurvann api na lipyate”
“No taint (karmic involvement) touches the sanctified man of action who is engaged in divine communion (yoga), who has conquered ego consciousness (by attaining soul perception), who is victorious over his senses, and who feels his self as the Self existing in all beings.”
This verse is describing a process occurring within an individual as a result of freeing themselves from the control of the ego and the senses.
When a person is controlled by the ego their actions reflect the ego’s motive.  The focus of the ego is usually to control someone or something outside of itself for gain, or the perception of gain.  The ego drives our attention outside of ourselves.  When our attention is focused on the external world we usually suffer emotionally as a result of losing contact with ourselves.  For example, you see someone who you think is more attractive than yourself.  You either begin to feel inadequate, and need to make yourself feel superior to them, or you want to be like them and think of how to change yourself.  Either of these scenarios will cause you emotional pain.
When one has “conquered ego consciousness” their actions are no longer ruled by the ego.  Actions performed without ego are usually performed without motive for gain, but for the purpose of performing the action.  The act is performed without emotion or desire, but out of need either for yourself or someone else.  The action is performed without expectation, therefore the result of the action is one of purity, without intent.
It is this form of action the verse is referring to when stating “no taint (karmic involvement) touches the sanctified man of action.”
The senses also focus our attention outside of ourselves, usually effecting the actions we choose.  When we follow the stimulus brought to us by our senses we are following our desires.  When we our lead by our desires, we become entangled in a cycle of pleasure seeking, followed by pain.  When we begin to understand this pattern we can become objective about how to use the information our senses bring to us, through awareness of our emotional state, as we process this information.  We also begin to understand that joy must develop internally, and can not be sustained by anything outside of ourselves.
For example, by watching the changing of the seasons and the behavioral changes in both plants and animals, we begin to understand that everything needs a slower, quiet time in order to sustain periods of high energy and growth.  In nature the quiet dormant time of winter allows for the rebirth of spring and the abundance of summer.  Without winter there can be no summer.  Our bodies and lives are the same, we need times of quiet to create the energy we need to sustain our lives.  When we allow time to look into the darkness, we create our own light, just as in nature.
The process of using our senses to understand ourselves and our world is the act of being “victorious over our senses”  Acting without ego and using the senses as tools for understanding, allows insight into our true selves, or as stated in verse 7 “… (he) who feels his self as the Self existing in all beings.”

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