I am not known by all. Therefore, the ignorant one does not know Me as the unborn and eternal Brahman.
However, through single-minded devotion alone, I can be seen in this form, can be known in essence, and also can be reached, O Arjuna.
The state of severance of union with sorrow is known by the name of yoga.
I shall fully explain to you the Self-knowledge together with Self-realization after knowing that nothing more remains to be known in this world.
By devotion one truly understand what and who I am in essence. Having known Me in essence, one immediately merges into Me.