śhrī-bhagavān uvācha
mayy āveśhya mano ye māṁ nitya-yuktā upāsate
śhraddhayā parayopetās te me yuktatamā matāḥ   || 2||  
ye tv akṣharam anirdeśhyam avyaktaṁ paryupāsate
sarvatra-gam achintyañcha kūṭa-stham achalandhruvam || 3||
sanniyamyendriya-grāmaṁ sarvatra sama-buddhayaḥ
te prāpnuvanti mām eva sarva-bhūta-hite ratāḥ || 4||
kleśho ’dhikataras teṣhām avyaktāsakta-chetasām
avyaktā hi gatir duḥkhaṁ dehavadbhir avāpyate|| 5||
ye tu sarvāṇi karmāṇi mayi sannyasya mat-parāḥ 
ananyenaiva yogena māṁ dhyāyanta upāsate|| 6||
teṣhām ahaṁ samuddhartā mṛityu-saṁsāra-sāgarāt
bhavāmi na chirāt pārtha mayy āveśhita-chetasām|| 7||

My Understanding : The heart and mind must be offered to God; the form of worship does not matter as long as it is done with sincerity. Chanting God’s name with devotion is vital. One should see all beings with equality and not abandon daily responsibilities for rituals. Even a single moment of prayer should be heartfelt. A true believer in God sees the divine in every individual and dedicates all their actions to the supreme.