idam hi yogesvara yoga-naipunam
hiranyagarbho bhagavan jagada yat
yad anta-kale tvayi nirgune mano
bhaktya dadhitojjhita-duskalevarah
idam—this; hi—certainly; yoga-isvara—O my Lord, master of all mystic power; yoga-naipunam—the expert process of executing yogic principles; hiranya-garbhah—Lord Brahma; bhagavan—the most powerful; jagada—spoke; yat—which; yat—which; anta-kale—at the time of death; tvayi—in You; nirgune—the transcendence; manah—the mind; bhaktya—with a devotional attitude; dadhita—one should place; ujjhita-duskalevarah—having given up his identification with the material body.
O my Lord, master of all mystic yoga, this is the explanation of the yogic process spoken of by Lord Brahma [Hiranyagarbha], who is self-realized. At the time of death, all yogis give up the material body with full detachment simply by placing their minds at Your lotus feet. That is the perfection of yoga.
Srila Madhvacarya says:
yasya samyag bhagavati
jnanam bhaktis tathaiva ca
niscintas tasya moksah syat
sarva-papa-krto ’pi tu
“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-gita:
api cet su-duracaro
bhajate mam ananya-bhak
sadhur eva sa mantavyah
samyag vyavasito hi sah
“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 Krsna and His form, pastimes, activities and qualities. If one is able to think of Krsna in this way, twenty-four hours a day, he is already liberated (svarupena vyavasthitih). Whereas materialists are absorbed in material thoughts and activities, devotees, on the contrary, are always absorbed in thoughts of Krsna and Krsna’s activities. Therefore they are already on the platform of liberation. One has to think of Krsna with full absorption at the time of death. Then he will certainly return home, back to Godhead, without a doubt.

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