Bhagavad Gita : Chapter 12

Arjuna:
Of these devotees who always worship you thus, and of those who worship the eternal formless, who has understood best the essence of yoga?

Krishna:
They who worship ME with full faith and devotion are, I consider,the best of yogis.And they also come to ME, who, with all senses under control, worship the undecaying Truth, indescribable ,formless, all-pervading,impregnable, unshakable and constant, and who, regarding all as equals, are committed to the welfare of all beings.

It is however more difficult for them who are attached to the Formless; envisaging the formless is surely not easy for the body-bound souls.

They who do their deeds, leaving the results to ME in full faith, and worship ME, and contemplate on Me and ME alone, I will quickly lift them up from the ocean of birth-cycles.Let your mind and intellect remain fixed in ME.

Certainly you will remain in ME in the hereafter. However if you are not able to concentrate your mind on ME, then, Arjuna, you try to achieve it by practice.

And if you find it difficult to practise regularly, do all your actions for ME. They also who dedicate all actions to ME attain liberation.In case you cannot do even this, try to give up expectations of results while doing your deeds, trusting in ME and controlling your mind.

Reasoned knowledge is better than practice; better than that is contemplation; and renunciation of results is better still. From renunciation comes peace.

The devotee who hates no being, and is friendly, compassionate,unselfish, humble, composed in pain and pleasure, tolerant, always contented, diligently striving , self-controlled, firm in resolve,committed to ME in mind and will, is dear to ME.

He who upsets nobody and is upset by none, who is devoid of excessive joy, anger and fear, is dear to Me.

Independent of circumstances, pure in heart, dexterous, always striving, impartial, healthy, not seeking any gains, such a devotee is dear to ME.

He who is not overjoyed, who is not prone to anger or sorrow, who does not hanker after things, indifferent to good or bad outcome, and is devoted to ME is dear to ME.

Treating friend or foe equally, and same in honour and dishonour, same in heat or cold, in pain or pleasure, detached, same in praise or censure, reserved, satisfied with whatever he gets, not tied to particular place, of steady mind, such a man is dear to ME.

And those devotees who follow, attentively and in full faith, this rejuvenating way of righteousness, as told by ME, is extremely dear to ME.