Chapter 6 : Bhakti Yoga

One who falls out Yoga path takes birth again. This time in a very righteous family or family of rich aristocracy. In extremer rare situations he takes birth into a family of transcendentalist. (6.41 & 6.42)

Good examples of this is Swami Vivekananda & RamKrishna Paramhansa respectively.

In this birth he builds up on his previous life and tries to attain perfectness. (6.43)

So basically, one needs to start following Yoga sooner than the later because it takes years after years and births after births to attain perfection for a common person. All good work done in this life is going to act as an advantage in following lives.

Due to his prior practice, following yogic principles comes naturally to him without having to make any special effort. Such, an inquisitive person stands superior to ritualistic principles of scriptures. (6.44)

In this fashion the yogi overcomes and cleans all contaminations after a number of births and eventually attains the state of perfection, also known as Krishna consciousness. (6.45)

Such a yogic person, is superior to Ascetic (someone who follows extreme self denial or self modification for religious reasons) , superior to empiricist ( knowledgeable, someone who has learned everything through own experiences) and even superior to ritualistic ( fruitive worker) . So Bhagwan Krishna advises Arjuna to be a yogi, someone who follows the path of Yoga (6.46)

Of all Yogis, one who offers selfless, transcendental devotional service which is free of any personal desires to Bhagwan Krishna is highest amongst all. Such a yogi always abides by Bhagwan and thinks of Bhagwan Krishna within himself (6.47)

 In short, Bhagwan has summarized that someone who follows Bhakti Yoga is superior than other forms of Yogas like Karma, Gyana, Hatha, Dhyana, Raja , Ashtang yogi