Krsna refers to the knowledge of the Bhagavad Gita as the royal secret. It is the highest and noblest knowledge. The absolute Knowledge that illumines all other knowledge. Hence it is referred to as royal. It is also unknown to all – secret. Atman is so profound and subtle that it eludes the grasp of most people. Yet it pervades the entire universe and exists beyond as well in Its pristine glory.
You have the option of living as a plaything, puppet, going through the cycle of birth and death at the mercy of the world, or acquiring knowledge of Atman to opt out and gain freedom.
Ignorant of their potential the deluded ignore Atman and get caught up with the world. Living in vain hopes, performing futile actions and acquiring hollow, superficial knowledge, they are bereft of discrimination. The mahatmas, great souls, anchored in the Divine, worship God single-pointedly. They dedicate all actions to the Self – Karma Yoga. They sing the Lord’s name always, redirecting their love towards God – Bhakti Yoga. They are firm in resolve, determined in their pursuit till the Goal is attained – Jnana Yoga. They align both the head and heart with Truth. Such great souls constantly yearn for liberation. They gain knowledge of Atman as one (Advaita) or as separate (Dvaita). In other words, all paths lead to the same goal. Thus worship is a constant effort at union with Atman, not a casual, occasional prayer or ritual.
Verse 22 is the central point of the Gita in which Krsna assures all those who worship God with singular purpose, always seeking union, of yoga (spiritual Enlightenment) as well as ksema (material success). The Bhagavad Gita does not promise a vague, post mortem happiness. Its benefits can be reaped here and now to gain material prosperity, happiness and spiritual Enlightenment. The accent is on consistency of purpose and depth of feeling. Pursue your goal constantly and devotedly and you will achieve it. Whatever action you perform, whatever you perceive, whatever you offer, give or strive for, do it as an arpanam, offering, to Me. Thus every mundane action is converted to worship. You will be freed from the bondage of actions that yield good and bad results.
Krsna accepts even the most wicked people, those who are rajasika (passionate) and tamasika (lethargic) and offers them liberation. Nobody is disqualified provided they choose the right path. Everyone has access to the supreme Goal. The highly refined and spiritually evolved ones find it much easier to get there. With a serene mind and sharp intellect they understand the nature of the world as anitya impermanent and asukha joyless. They know they are heir to true and abiding Bliss. All they have to do is look for it in the right place – within.
Krsna ends by encapsulating the entire spiritual path in one verse. Fix your mind on Me – Jnana Yoga. The intellect fixes Realisation as the goal and constantly discriminates between the real and unreal, permanent and passing, eternal and ephemeral. Be My devotee – Bhakti Yoga. Feel for the ideal, pour your heart out to God. Be loyal to God. Surrender helps calm the mind. It empowers you to go through the ordeals the world has in store for you. Sacrifice to Me – Karma Yoga. Sweat, toil, work hard. Dedicate your actions to the Goal. Prostrate to Me – dissolve your ego. Place your head and heart at the feet of the Lord. Thus, with Me as the supreme Goal you shall come to Me.