Shri Krishna says that liberation is obtained through single-pointed devotion to Ishvara. However, here it is meant to include not just devotion but also karma yoga. If the karma yoga aspect is missing, our vaasanaas or latent desires will remain unfulfilled, pulling us back into the cycle of rebirth so that they will be fulfilled. 

Shri Krishna tells us that he has spelled out an entire “flowchart for the afterlife”. With this knowledge, we have the means to achieve anything including heaven, rebirth, and liberation. The outcome solely depends upon our behavior while we are alive. 

However, devotion to God leads to liberation from the bondage of the material world. Therefore, the yogis who have realized this truth detach their minds from the material world and attach it to God alone. Treading on this path of light, they eventually attain eternal happiness.
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