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All interesting and fascinating collective properties of a complex system arise from the intricate way in which its components interact. Various systems in physics, biology, social sciences and engineering have been successfully modelled as networks of coupled dynamical systems, where the graph links describe pairwise interactions. This is, however, too strong a limitation, as recent studies have revealed that higher-order many-body interactions are present in social groups, ecosystems and in the human brain, and they actually affect the emergent dynamics of all these systems. Here, we introduce a general framework that allows to study coupled dynamical systems accounting for the precise microscopic structure of their interactions at any possible order. We consider the most general ensemble of identical dynamical systems, organized on the nodes of a simplicial complex, and interacting through synchronization-non-invasive coupling function. The simplicial complex can be of any dimension, meaning that it can account, at the same time, for pairwise interactions, three-body interactions and so on. In such a broad context, we show that complete synchronization exists as an invariant solution, and we give the necessary condition for it to be observed as a stable state in terms of a Master Stability Function. This generalizes the existing results valid for pairwise interactions (i.e. graphs) to the case of complex systems with the most general possible architecture. Moreover, we show how the approach can be simplified for specific, yet frequently occurring, instances, and we verify all our theoretical predictions in synthetic and real-world systems. Given the completely general character of the method proposed, our results contribute to the theory of dynamical systems with many-body interactions and can find applications in an extremely wide range of practical cases.