athaivam akhila-loka-pala-lalamo ’pi vilaksanair jadavad avadhuta-vesa-bhasa-caritair avilaksita-bhagavat-prabhavo yoginam samparaya-vidhim anusiksayan sva-kalevaram jihasur atmany atmanam asamvyavahitam anarthantara-bhavenanviksamana uparatanuvrttir upararama.
atha—thereafter; evam—in this way; akhila-loka-pala-lalamah—the head of all kings and monarchs of the universe; api—although; vilaksanaih—various; jada-vat—as if stupid; avadhuta-vesa-bhasa-caritaih—by the dress, language and characteristics of an avadhuta; avilaksita-bhagavat-prabhavah—hiding the opulence of the Supreme Personality of Godhead (keeping Himself like an ordinary human being); yoginam—of the yogis; samparaya-vidhim—the method of giving up this material body; anusiksayan—teaching; sva-kalevaram—His own personal body, which is not at all material; jihasuh—desiring to give up like an ordinary human being; atmani—unto Vasudeva, the original person; atmanam—Himself, Lord Rsabhadeva, being an avesa-avatara of Lord Visnu; asamvyavahitam—without intervention by the illusory energy; anartha-antara-bhavena—Himself in the status of Visnu; anviksamanah—always seeing; uparata-anuvrttih—who was acting as if giving up His material body; upararama—ceased His pastimes as the King of this planet.
Lord Rsabhadeva was the head of all kings and emperors within this universe, but assuming the dress and language of an avadhuta, He acted as if dull and materially bound. Consequently no one could observe His divine opulence. He adopted this behavior just to teach yogis how to give up the body. Nonetheless, He maintained His original position as a plenary expansion of Lord Vasudeva, Krsna. Remaining always in that state, He gave up His pastimes as Lord Rsabhadeva within the material world. If, following in the footsteps of Lord Rsabhadeva, one can give up his subtle body, there is no chance that one will accept a material body again.
“One who knows the transcendental nature of My appearance and activities does not, upon leaving the body, take his birth again in this material world, but attains My eternal abode, O Arjuna.”
This is possible simply by keeping oneself an eternal servant of the Supreme Lord. One must understand his constitutional position and the constitutional position of the Supreme Lord as well. Both have the same spiritual identity. Maintaining oneself as a servant of the Supreme Lord, one should avoid rebirth in this material world. If one keeps himself spiritually fit and thinks of himself as an eternal servant of the Supreme Lord, he will be successful at the time he has to give up the material body.
Link to this page: https://prabhupadabooks.com/sb/5/6/6