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Krishna starts answering Arjuna's question in 2.54 (Kim Vrajeta)

rāga-dveṣa-vimuktais tu
viṣayān indriyaiś caran
ātma-vaśyair vidheyātmā
prasādam adhigacchati

Synonyms

rāga — attachment; dveṣa — and detachment; vimuktaiḥ — by one who has become free from; tu — but; viṣayān — sense objects; indriyaiḥ — by the senses; caran — acting upon; ātma-vaśyaiḥ — under one’s control; vidheya-ātmā — one who follows regulated freedom; prasādam — the mercy of the Lord; adhigacchati — attains.

Translation

But a person free from all attachment and aversion and able to control his senses through regulative principles of freedom can obtain the complete mercy of the Lord.
 
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How does a devotee engage his senses in this world?

*Krishna gives a key point - Raga Dvesha Vimukteshu. No attachment and No aversion while moving about in this world.*

  • A female patient in terminal stage if she starts liking the male nurse that is a problem because her last thoughts will revolve around him - Raga.
  • At the same time if she starts hating the male nurse (some women naturally don't like males) then this is also a problem because her last thoughts revolve around him (negative thoughts though) - Dvesha.
  • Both cases she will die thinking of him and will take birth again as a Male mostly Karma willing.
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