Bhagavad Gita 13.24

He who understands God and Nature, along with her qualities, whatever his condition in life may be, will not come back to earth.

य एवं वेत्ति पुरुषं प्रकृतिं च गुणैःसह।सर्वथा वर्तमानोऽपि न स भूयोऽभिजायते॥

ya evaṃ vetti puruṣaṃ prakṛtiṃ ca guṇaiḥsaha|sarvathā vartamāno'pi na sa bhūyo'bhijāyate||

English translation (above): Shri Purohit Swami (1935), public domain. Sanskrit text via github.com/gita/gita (Unlicense).