Text 37]
Entanglement in Fruitive Activities
1407
One can achieve elevation to the higher planetary systems like the heavenly kingdom by executing one's prescribed duties and by performing sacrifices. When he is transcendental to such desires because of accepting the renounced order of life, he can understand the Brahman feature of the Supreme, and when one is able to see his real constitutional position, he sees all other processes and becomes situated in the stage of pure devotional service. At that time he can understand the Supreme Personality of Godhead, Bhagavān.
Understanding of the Supreme Person is called  ātma-tattva-avabodhena , which means understanding of one's real constitutional position. If one actually understands one's constitutional position as an eternal servitor of the Supreme Lord, he becomes detached from the service of the material world. Everyone engages in some sort of service. If one does not know one's constitutional position, one engages in the service of his personal gross body, or his family, society or country. But as soon as one is able to see his constitutional position (the word  sva-dṛk  means one who is able to see), he becomes detached from such material service and engages himself in devotional service.
As long as one is in the modes of material nature and is performing the duties prescribed in the scriptures, he can be elevated to higher planetary systems where the predominating deities are material representations of the Supreme Personality of Godhead, like the sun-god, the moon-god, the air-god, Brahmā and Lord Śiva. All the different demigods are material representations of the Supreme Lord. By material activities one can only approach such demigods, as stated in  Bhagavad-gītā .  Yānti deva-vratā devān  (Bg. 9.25): those who are attached to the demigods and who perform the prescribed duties can approach the abodes of the demigods. In this way, one can go to the planet of the  pitās , or forefathers. Similarly, one who fully understands the real position of his life adopts devotional service and realizes the Supreme Personality of Godhead.
TEXT 37
प्रावोचं भक्तियोगस्य स्वरूपं ते चतुर्विधम् ।
कालस्य चान्यक्तगतेर्योऽन्तधाविति जन्तुषु ॥३७॥
prāvocam bhakti-yogasya svarūpam te catur-vidham kālasya cāvyakta-gater yo 'ntardhāvati jantuṣu