Bhagavad Gita 2.64

But the self-controlled soul, who moves among sense objects, free from attachment or repulsion, wins eternal peace.

रागद्वेषवियुक्तैस्तु विषयानिन्द्रियैश्चरन्।
आत्मवश्यैर्विधेयात्मा प्रसादमधिगच्छति॥

rāgadveṣaviyuktaistu viṣayānindriyaiścaran|
ātmavaśyairvidheyātmā prasādamadhigacchati||

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