Verse 21

आत्मावलोकनेनाशु माधवः परिदृश्यते ।माधवाराधनेनाशु स्वयमात्मावलोक्यते

In plain words

By vision of the ātman, swiftly Mādhava is seen; by worship of Mādhava, swiftly the ātman itself is seen.