Bhagavad Gita - Chapter 11 - Verse 55

nirvairah sarva-bhuteshu yah sa mameti pandava
mat-karma-krin mat-paramo mad-bhaktah sanga-varjitah

Translation: 

My devotee who serves Me, accepts Me as the Supreme, rejects all material attachments, and who is free from malice for all living beings can attain Me, O son of Pandu.

Translation: 
Commentary: 
Because Arjuna has an eternal relationship with Shri Krishna and not with Narayana in Vaikuntha, Krishna could see that he was not yet peaceful even after seeing His form as Narayana and thus Krishna resumed His original twoarmed form as Shyamasundara. Those who have a direct relationship with Krishna are most fortunate and are never satisfied by seeing any other avatara of Krishna besides that of His original form. ...continue reading »

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