Consider any differentiable transformation $q_{j}\rightarrow q_{j}^{\lambda} = f_{j}^{\lambda}(q_{1}, \ldots, q_{N})$ parametrized by $\lambda$ (I'll place it as a superscript). For any such transformation, we can write $$ L(q_{j}^{\lambda}, \dot{q}_{j}^{\lambda}, t) - L(q_{j}^{0}, \dot{q}_{j}^{0...