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The Activities of Lord Rṣabhadeva
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being);  yoginām —of the  yogīs ;  sāmparāya-vidhim —the method of giving up this material body;  anuśikṣayan —teaching;  sva-kalevaram —His own personal body, which is not at all material;  jihāsuḥ —desiring to give up like an ordinary human being;  ātmani —unto Vāsudeva, the original person;  ātmānam —Himself, Lord Rṣabhadeva, being an  āveśa-avatāra  of Lord Viṣṇu;  asamvyavahitam —without intervention by the illusory energy;  anartha-antara-bhāvena —Himself in the status of Viṣṇu;  anvīkṣamāṇaḥ —always seeing;  uparata-anuvṛttiḥ —who was acting as if giving up His material body;  upararāma —ceased His pastimes as the King of this planet.
TRANSLATION
Lord Rṣabhadeva was the head of all kings and emperors within this universe, but assuming the dress and language of an avadhūta, He acted as if dull and materially bound. Consequently no one could observe His divine opulence. He adopted this behavior just to teach  yogīs  how to give up the body. Nonetheless, He maintained His original position as a plenary expansion of Lord Vāsudeva, Kṛṣṇa. Remaining always in that state, He gave up His pastimes as Lord Rṣabhadeva within the material world. If, following in the footsteps of Lord Rṣabhadeva, one can give up his subtle body, there is no chance that one will accept a material body again.
PURPORT
As Lord Kṛṣṇa says in  Bhagavad-gītā  (4.9):
janma karma ca me divyam evam yo vetti tattvataḥ tyaktvā deham punar janma naiti mām eti so 'rjuna
“One who knows the transcendental nature of My appearance and activities does not, upon leaving the body, take his birth again in this material world, but attains My eternal abode. O Arjuna.”
This is possible simply by keeping oneself an eternal servant of the Supreme Lord. One must understand his constitutional position and the