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This is confirmed in Bhagavad-gītā (14.26):
māṁ ca yo ’vyabhicāreṇa
sa guṇān samatītyaitān
“One who engages in full devotional service, who does not fall down in any circumstance, at once transcends the modes of material nature and thus comes to the level of Brahman.” By the practice of bhakti-yoga, one immediately comes to the spiritual platform, transcendental to the actions and reactions of the three modes of material nature. The root of ignorance is material consciousness, which must be killed by spiritual consciousness, or Kṛṣṇa consciousness. The word bīja-nirharaṇam refers to burning the root cause of material life to ashes. In the Medinī dictionary, yoga is explained by its result: yoge ’pūrvārtha-samprāptau saṅgati-dhyāna-yuktiṣu. When one is put into an awkward position because of ignorance, the process by which one can be freed from this entanglement is called yoga. This is also called liberation. Muktir hitvānyathā-rūpaṁ svarūpeṇa vyavasthitiḥ. Mukti means giving up one’s position in ignorance or illusion, by which one thinks in a way contrary to his constitutional position. Returning to one’s constitutional position is called mukti, and the process by which one does this is called yoga. Thus yoga is above karma, jñāna and sāṅkhya. Indeed, yoga is the ultimate goal of life. Kṛṣṇa therefore advised Arjuna to become a yogī (tasmād yogī bhavārjuna). Lord Kṛṣṇa further advised in Bhagavad-gītā that the first-class yogī is he who has come to the platform of devotional service.
yoginām api sarveṣāṁ
śraddhāvān bhajate yo māṁ
sa me yuktatamo mataḥ
“Of all yogīs, he who always abides in Me with great faith, worshiping Me in transcendental loving service, is most intimately united with Me in yoga and is the highest of all.” (Bg. 6.47) Thus one who always thinks of Kṛṣṇa within the core of his heart is the best yogī. By practicing this best of all yoga systems, one is liberated from the material condition.