EDI: Field & in control record with value '&' is invalid

What causes this issue?

When an <DS:GlOS.IDoc>IDoc</> was created, an error was identified in
the control record. The value &v2& in the field &v1& is invalid.

System Response

The system issues an error message and will not allow you to continue with this transaction until the error is resolved.

How to fix this error?

Please check the control record of the IDoc.

Error message extract from SAP system. Copyright SAP SE.