A connected semisimple Lie subgroup of $SO(n)$ is closed in $SO(n)$ (Kobayashi and Nomizu, 1963, p. 279). Can we extend this result to all semisimple groups, put differently, is any connected semisimple Lie subgroup of a semisimple group closed in this semisimple group?
I thought that maybe I could use arguments like "any connected semisimple group is faithfully represented as subgroup of $SO(n)$" which would immediately prove the extension to all semisimple group. A push in the right direction or reference would be enough.