BG 7.28

But those whose sins have been completely eradicated by pious activities are freed from the illusion of duality, and worship me with determination.

येषां त्वन्तगतं पापं जनानां पुण्यकर्मणाम्
ते द्वन्द्वमोहनिर्मुक्ता भजन्ते मां दृढव्रताः

yeṣhāṁ — whose
tvanta-gataṁ — completely destroyed
tu—but; anta-gatam—completely destroyed
- tvanta
- gataṁ
pāpaṁ — sins
janānāṁ — of people
puṇya-karmaṇām — pious activities
- puṇya — pious
- karmaṇām — activities
te — they
dvandva-moha-nirmuktā — free from the illusion of dualities
- dvandva — of dualities
- moha — illusion
- nirmuktā — free from
bhajante — worship
māṁ — me
dṛiḍha-vratāḥ — with determination
- dṛiḍha
- vratāḥ

Craving and aversion arise from the illusion of duality - a delusion that all living beings are born into.

[27]

But those whose sins have been completely eradicated by pious activities are freed from the illusion of duality, and worship me with determination.

[28]

Those who take refuge in me are liberated from old age and death, know Brahman as the nature of Karma and the self.

[29]

Those who see me as the law of physical nature, the nature of the gods, and the principles of sacrifice, know me even at the time of death.

[30]

Summary