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Bhaktivedanta VedaBase: Śrīmad Bhāgavatam 5.19.13
idam hi yogeśvara yoga-naipunam
hiranyagarbho bhagavāñ jagāda yat
yad anta-kāle tvayi nirgune mano
bhaktyā dadhītojjhita-dushkalevarah
SYNONYMS
idam — this; hi — certainly; yoga-īśvara — O my Lord, master of all mystic power; yoga-naipunam — the expert process of executing yogic principles; hiranya-garbhah — Lord Brahmā; bhagavān — the most powerful; jagāda — spoke; yat — which; yat — which; anta-kāle — at the time of death; tvayi — in You; nirgune — the transcendence; manah — the mind; bhaktyā — with a devotional attitude; dadhīta — one should place; ujjhita-dushkalevarah — having given up his identification with the material body.
TRANSLATION
O my Lord, master of all mystic yoga, this is the explanation of the yogic process spoken of by Lord Brahmā [Hiranyagarbha], who is self-realized. At the time of death, all yogīs give up the material body with full detachment simply by placing their minds at Your lotus feet. That is the perfection of yoga.
PURPORT
Śrīla Madhvācārya says:
"For one who very seriously practices devotional service during his lifetime in order to understand the constitutional position of the Supreme Personality of Godhead, liberation from this material world is guaranteed, even if he has previously been addicted to sinful habits." This is also confirmed in Bhagavad-gītā:
"Even if one commits the most abominable actions, if he is engaged in devotional service he is to be considered saintly because he is properly situated." (Bg. 9.30) The only purpose of life is to be fully absorbed in thoughts of Krishna and His form, pastimes, activities and qualities. If one is able to think of Krishna in this way, twenty-four hours a day, he is already liberated (svarūpena vyavasthitih). Whereas materialists are absorbed in material thoughts and activities, devotees, on the contrary, are always absorbed in thoughts of Krishna and Krishna's activities. Therefore they are already on the platform of liberation. One has to think of Krishna with full absorption at the time of death. Then he will certainly return home, back to Godhead, without a doubt.
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His Divine Grace A. C. Bhaktivedanta Swami Prabhupāda, Founder Ācārya of the International Society for Krishna Consciousness