BG 7.29

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

जरामरणमोक्षाय मामाश्रित्य यतन्ति ये
ते ब्रह्म तद्विदुः कृत्स्नमध्यात्मं कर्म चाखिलम्

jarā-maraṇa-mokṣhāya — liberation from old age and death
- jarā — old age
- maraṇa — and death
- mokṣhāya — liberation
mām — me
āśhritya — take shelter in
yatanti — strive
ye — who
te — they
brahma — Brahma
tadviduḥ — know that
- tat — that
- viduḥ — know
kṛitsnam — everything
adhyātmaṁ — the individual self
karma — karmic action
chākhilam — and entire
- cha — and
- akhilam — entire

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