The Blessed Lord said: With mind attached to Me, oh Pārtha!, practicing yoga, taking refuge in Me, hear how, without doubt, you will know Me completely.

Kṛṣṇa introduces Jñāna Vijñāna Yoga — yoga of knowledge and realization. Requirements: mayy āsakta-manāḥ (mind attached to Me), yogaṃ yuñjan (practicing yoga), mad-āśrayaḥ (taking refuge in Me).

The promise: asaṃśayam samagram — without doubt (na saṃśayaḥ), complete, total. The path is to hear (śṛṇu), oral succession of wisdom.