Krishna established thus far that devotional service is the prime means of knowing Krishna as He is, which frees us from the bondage of birth and death in this material world and makes us eligible to go back to the eternal abode of Krishna (as understood from BG 4.9). Krishna reiterates this point here.

Though (api) always (sadā) performing (kurvāṇo) all kinds of actions (sarva-karmāṇy), under Krishna’s shelter (mad-vyapāśrayaḥ) and by Krishna’s grace (mat-prasādād), one engaged in devotional service achieves (avāpnoti) the eternal (śāśvataṁ) and imperishable (avyayam) position (padam). (BG 18.56)

In this final section of the Bhagavad Gita, Krishna gives His most practical and concise instructions to help us mold our life in devotional service. Consciously (cetasā) renouncing (sannyasya) all actions (sarva-karmāṇi) unto Krishna (mayi) and dedicating them for Krishna’s pleasure (mat-paraḥ), sheltering in (upāśritya) the yoga of intelligence (buddhi-yogam), we should become (bhava) incessantly (satataṁ) conscious of Krishna (mac-cittaḥ). (BG 18.57)

By being Krishna conscious (mac-cittaḥ), we will overcome (tariṣyasi) all obstacles (sarva-durgāṇi) by Krishna’s grace (mat-prasādāt). But (atha), if (cet) we (tvam) do not listen (na śroṣyasi) out of false ego (ahaṅkārān), we will be lost (vinaṅkṣyasi). (BG 18.58) Taking shelter of false ego ( ahaṅkāram āśritya), if (yad) we think (iti manyase) “I shall not fight” [or, “I shall not perform my duty”] (na yotsya), we (te) will be falsely directed (mithyaiṣa) in our occupational duty (vyavasāyas). The material nature (prakṛtis) will engage us (tvāṁ niyokṣyati). (BG 18.59)

We are bound (nibaddhaḥ) by our (svena) action (karmaṇā) that is born of our own nature (svabhāva-jena). As a result, that which (yan) we do not wish (necchasi) to do (kartuṁ) out of illusion (mohāt), we will end up doing (kariṣyasy) the same (tat), in fact (api), involuntarily (avaśo). (BG 18.60)

In other words, giving up our nature-born actions is not possible. But, we have to learn the art of dedicating our natural occupational duties for the pleasure of Krishna. In this way, we can cultivate Krishna consciousness.

How can we locate Krishna so that we become increasingly conscious of Him? Krishna speaks of Himself in the third person. This is known as Illeism. Psychological studies show that thinking and speaking of oneself in the third person increases wisdom and has a positive effect on one’s mental state (Reference: Illeism).

The Supreme Lord (īśvaraḥ) is situated (tiṣṭhati) in the region of the heart (hṛd-deśe) for all living entities (sarva-bhūtānāṁ), making all the living entities (sarva-bhūtāni), who are placed on a [bodily] machine (yantrārūḍhāni), wander (bhrāmayan), under the spell of illusion (māyayā). (BG 18.61) We don’t have to cling to illusion life after life in this way but can make a wise choice. Here is Krishna’s pertinent instruction. We should go (gaccha) to Him alone (tam eva) whole-heartedly (sarva-bhāvena) for shelter (śaraṇaṁ). By His grace (tat-prasādāt), we will attain (prāpsyasi) supreme peace (parāṁ śāntiṁ) and eternal (śāśvatam) abode (sthānaṁ). (BG 18.62)

Thus (iti), more confidential (guhyād guhya-taraṁ) knowledge (jñānam) has been explained (ākhyātaṁ) to us (te) by Krishna (mayā). We should reflect on this (vimṛśyaitad) fully (aśeṣeṇa), and then (tathā) do (kuru) however (yatha) we wish (icchasi). (BG 18.63) Krishna does not take away our freewill.