In plain words
That God is someone apart, in his thoughts, man thinks so, and forgets his own self; once he lets go of thoughts, he himself becomes God; leave behind the delusion of thought and come away!
Listening, singing, remembering Viṣṇu, serving His feet, worship, salutation, servitude, friendship and the offering of the self.
Embodiments of Prema!
Yogas are of many kinds, according to their practices and according to their principles; even so, among them four principal yogas have won fame in this world. The first is Rāja Yoga. The second, Haṭha Yoga. The third, Sāṅkhya Yoga. The fourth, Kuṇḍalinī Yoga. ‘Yogaḥ cittavṛtti nirodhakaḥ’: this is the authoritative word of Patañjali. The chief aim of all these yogas, too, is nothing but this: to master the senses and lead the principle of the jīva into the Supreme Principle! ‘Manomūlam idaṃ jagat.’ Since this whole world rests on Manas, man means Manas itself! So, ‘He who restrains Manas becomes one who has restrained the world’: that is the very inner meaning of it.
Rāja Yoga does not need the renunciation of all attachment
For Rāja Yoga there are no special disciplines at all, such as a mantra, a yantra or a tantra.