Verse 22

²²So with all your feeling serve the highest one, whose lotus feet are worth the serving, with a devotion that takes hold of what he is. ²³The yoga of devotion set to work upon Vasudeva the Bhagavan quickly gives rise to detachment, and to the knowledge that is the seeing of Brahman. ²⁴When a man's mind, meeting through the working of the senses objects that are all alike, no longer takes hold of an unevenness among them, calling this one dear and that one not, ²⁵then by the self he sees the self, clinging to nothing, looking on all alike, with nothing to be dropped and nothing to be taken up, standing on the height. ²⁶Brahman beyond, which is knowing and nothing but knowing, the supreme Self, the Lord, the Person: the Bhagavan is one, and it is by separate ways of being, the seen and the rest, that he is come at.

²⁷Just this much and no more is the aim a yogin here joins himself to by the whole of yoga: to be clear of clinging, entirely.