Bhagavad Gita, Chapter 4, Verse 23

Devoid of attachment, liberated, with mind centred in knowledge, performing work for Yajna alone, his whole Karma dissolves away.

Offering the work itself, rather than doing it for personal stake, is what actually frees it from leaving a mark.

This ties several earlier verses together into one clear statement. Real detachment plus real understanding plus genuine offering is the full combination that finally releases someone from the usual weight of their own actions.