BG 7.30

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.

साधिभूताधिदैवं मां साधियज्ञं च ये विदुः
प्रयाणकालेऽपि च मां ते विदुर्युक्तचेतसः

sādhibhūtādhidaivaṁ — governing principle of the gods and material nature
- sa-adhibhūta — governing principle of the field of matter
- adhidaivam — governing principle of the celestial gods
māṁ — me
sādhiyajñaṁ — governing principle of sacrifice
cha — and
ye — who
viduḥ — know
prayāṇa-kāle — at the time of death
- prayāṇa — of death
- kāle — at the time
’pi — even
cha — and
māṁ — me
te — they
vidur — know
yukta-chetasaḥ — in full consciousness of me
- yukta
- chetasaḥ

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