Sanskrit

येषां त्वन्तगतं पापं जनानां पुण्यकर्मणाम्। ते द्वन्द्वमोहनिर्मुक्ता भजन्ते मां दृढव्रताः।।7.28।।

Summary

But those who act righteously, in whom sin has been destroyed, who are free from the infatuation of conflicting emotions, they worship Me with a firm resolve.