Whoever, at the time of death, quits his body remembering Me alone, at once attains My nature. Of this there is no doubt. Of course, one must practice before one is overcome by death, but the perfect yogi, namely the devotee, dies in trance, thinking of Krsna. He does not feel his material body being separated from his soul; the soul is immediately transferred to the spiritual world. Tyaktva deham punar janma naiti mam eti: [Bg. 4.9] the soul does not enter the womb of a material mother again. but is transferred back home, back to Godhead. This yoga, bhakti-yoga, is the highest yoga system, as explained by the Lord Himself in Bhagavad-gita (6.47):

Of all yogis, 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. The bhakti-yogi always thinks of Krsna, and therefore at the time of death he can very easily transfer himself to Krsnaloka, without even perceiving the pains of death.