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SB 1.9 - The devotee yogī's liberation

Kṛṣṇa, who appears in the mind of the devotee by attentive devotion and meditation and by chanting of the holy name, releases the devotee (yogī) from the bondage of fruitive activities at the time of death. Yoga means concentration of the mind detached from all other subject matter. Such concentration is samādhi. A yogī devotee engages himself 24 hours daily in the nine fold devotional service of the Lord namely hearing, chanting, remembering, becoming a voluntary servant, worshiping, praying, carrying out orders, establishing a friendly relationship or offering all that one may possess. Such a perfect yogī is enabled by the grace of the Lord to concentrate his mind upon the Lord with perfect consciousness, and thus by chanting the holy name before quitting the body the yogī is at once transferred by the internal energy of the Lord to one of the eternal planets where there are no material miseries. Material life is produced by material desires where one has to endure the threefold miseries. Devotional service does not kill the natural desires of the living being but they are applied in the right cause of devotional service. Bhīṣma is referring to bhakti yoga here and he was fortunate to have the Lord directly in his presence before he quit his material body.