Krishna immediately picks up the thread from the final verse of Chapter 6 (which stated the highest Yogi is the one devoted to Him). He commands Arjuna: Now hear and listen (tac chṛṇu), O son of Pritha, how you shall know Me (yathā jñāsyasi māṃ). This knowledge will be total, complete, and entire (samagraṃ), absolutely free from any doubt whatsoever (asaṃśayaṃ). How is it achieved? By practicing Yoga (yogaṃ yuñjan) with a mind completely attached to and absorbed in Me (mayy āsakta-manāḥ), and taking Me as your sole refuge and ultimate shelter (mad-āśrayaḥ).