【中国語・ピンイン-pinyin】
yǒu zǐ yuē
有子曰。
xìn jìn yú yì
信近於義、
yán kě fù yě
言可復也。
gōng jìn yú lǐ
恭近於禮、
yuǎn chǐ rǔ yě 
遠恥辱也。
yīn bù shī qí qīn
因不失其親、
yì kě zōng yě
亦可宗也。

【日本語・書き下し文】
有子曰く、信義に近ければ、言復む可し。恭礼に近ければ、恥辱に遠ざかる。因ること其の親を失わざれば、亦宗（たっと）ふ可し。
- 加地伸行 (2007) 論語 全訳注 講談社学術文庫

【英語・意訳】
The philosopher You said, "When agreements are made according to what is right, what is spoken can be made good. When respect is shown according to what is proper, one keeps far from shame and disgrace. When the parties upon whom a man leans are proper persons to be intimate with, he can make them his guides and masters."
FYI: https://ctext.org/analects/xue-er