Verse 54

In plain words

But how, then, is it possible? Here comes the answer —

But through devotion — what kind of devotion, exactly? Śaṅkara answers: an undivided devotion, one that never once turns anywhere else — a love that, at no point, ever, drifts away from the Lord. That, and nothing less, is undivided devotion. It means that through every single one of your faculties, nothing but Vāsudeva registers at all — that is what makes it undivided. Through devotion like that, Arjuna, I, this very being who showed you the universal form, become something you can first come to know through scripture. But not only known: through that same devotion you can see me directly, realize me as I truly am, enter into that reality, and finally reach liberation itself, Arjuna, scorcher of your foes.

Close to the Sanskrit

How then is it possible? — this is stated —

But by devotion — of what particular kind? — he states: [devotion that is] undivided, not become separate — that which never at any time occurs apart from the Blessed Lord, that indeed is undivided devotion. By all the [sense-]faculties, nothing other than Vāsudeva is perceived, by which [devotion] — that is undivided devotion; by that devotion I, of such a kind, in the manner of the universal form, O Arjuna, [am able] to be known from scripture. Not merely to be known from scripture, but to be seen and directly realized, in [my] true nature, in truth, and to be entered into, and to attain liberation, O scorcher of foes.

In plain words

Then Kṛṣṇa, His heart full of grace, said, “Arjuna! You have been able to see My Viśvarūpa, which cannot be seen through study of the Vedas, through severe tapas, through good deeds such as dāna and dharma, or through rites such as yajña and yāga. Such a darśana comes, and becomes possible, only to a devotee who is steadfast in Me alone. It can become possible for those who worship Me with thought given to no other. The heart of such people is free of impurity and stays spotless. Then, whatever they see and whatever they do, they regard as the svarūpa of the Lord, as karmas that are the very form of God. For them there are no other forms, no other feelings, no other thoughts. At all times and in every state it is only My form, only My name, only My feeling, only My karmas that they carry on. Only to such people is this holy attainment granted. I seek only ananya Bhakti, brother-in-law!” Arjuna, smiles dancing on his face, moved his lips and said, “Svāmī! I have learned that ananya Bhakti is most dear to You. But does sākāra upāsanā satisfy You? Or does nirākāra upāsanā melt You? Of these two, which wins favour easily, both for sādhakas and with You, the Lord of all? Please tell me which of them is the better.”