tad-buddhayas tad-ātmānas tan-niṣhṭhās tat-parāyaṇāḥ
gachchhantyapunar-āvṛittiṁ jñāna-nirdhūta-kalmaṣhāḥ||17||

Meaning : Those who center their thoughts, identity, faith, and devotion fully on God and whose inner impurities have been cleared through true knowledge reach a state of liberation from which there is no return to worldly rebirth.