SB 3.32.36

One can achieve the elevation to the higher planetary system like the heavenly kingdom, etc., by executing the prescribed duties and of performing sacrifices. And when he is transcendental to such position by accepting renounced order of life, then he can understand the Brahman feature of the Supreme Personality of Godhead. And when one is able to see his real constitutional position, he becomes seer of all other processes and thus he sees his position in reality or his post in the stage of pure devotional service. And at that time, he can understand the Supreme Personality of Godhead, Bhagavan.

The path of understanding the Supreme Personality of Godhead is atma-tattva-avabodhena. Atma-tattva-avabodhena means understanding one's real constitutional position. And if he actually understands his constitutional position as eternal servitor of the Supreme Lord, then he becomes detached to the service of this material world. Everyone is engaged in some sort of service. So without knowing one's constitutional position, everyone is engaged in the service of personal gross body, or the family, or the society, or the country. But as soon as one is able to see, sva-drk (s-w-d-r-i-k), sva-drk means one who is able to see his constitutional position, he becomes detached to such material services and engages himself in the devotional service.

So, so long one is in the modes of material nature and performance of the prescribed duties in the scriptures, he can be elevated in the higher planetary systems where the predominating deities are also material representation of the Supreme Personality of Godhead. Just like the sun-god, the moon-god, the air-god, Brahma and Lord Siva, there are different demigods, and they are supposed to be material representation of the Supreme Personality of Godhead. So by material activities one can approach such demigods only, as it is stated in the Bhagavad-gita [Bg 9.25]: yanti deva-vrata devan. Those who are attached to the demigods and performs the prescribed duties thereon, they can approach the different demigods, and similarly one can go to the planet of the pitris, forefathers. Similarly, one who is fully understood about the real position of his life, he takes to devotional service and realizes the Supreme Personality of Godhead.