5.19 By those whose minds rest in ealness with regard to all selves in the aforesaid manner, even here, i.e., even at the stage of executing the means, Samsara is overcome. For the Brahman is of the same nature everywhere when uncontaminated. The meaning is that the substance of self, when free from the contaminations resulting from contact with the Prakrti (body), is the same everywhere i.e., as the Brahman (the Atman). If they are fixed in the eality of all selves, they verily abide in Brahman. The abidance in the Brahman is verily the conest of Samsara. Those who contemplate on the sameness of all selves, because of their having the form of knowledge, they are liberated.

Sri Krsna now teaches that mode of life by following which the maturity of knowledge in the form of sameness of vision comes to a Karma Yogin.