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In the Bhagavad-gita, the final instruction is to give up all varieties of religion and follow the Personality of Godhead without reservation. In the beginning of the Bhagavad-gita, the Personality of Godhead proclaimed that He descends to the earth whenever there is a rise of irreligious activities. He does so to protect the faithful, eradicate the unbelievers, and reestablish the principles of religiosity.
The two declarations mentioned above seem contradictory. The Personality of Godhead descends on earth to protect religiosity, but advises Arjuna to give up all varieties of religion. The explanation, however, is very clear. Complete surrender unto the will of the Personality of Godhead without any reservation is the factual principle of religiosity. All other activities, such as altruism, are not in fact religious. As such, the Personality of Godhead advises Arjuna to give them up. They are all different forms of mundane lust, gorgeously presented in the dress of religiosity.
Therefore, a transcendental conviction of feeling oneself to be the eternal servitor of Godhead and following this conviction means to follow the orders of Shri Krishna as He has advised in the Bhagavad-gita. Whenever there is the feeling that one is the enjoyer of one’s own activities, such actions are to be understood as different forms of mundane lust.
To surrender fully unto the desire of Shri Krishna does not turn one into a lifeless machine without any impetus. Rather, the feeling of being eternally engaged in the service of Shri Krishna gives one transcendental impetus for carrying out the will of Godhead through the divine medium of the spiritual master, who is identical in purpose with Shri Krishna. This is only possible when one is inspired by pure love of Godhead called vyavasayatmika-buddhi, supramundane intelligence that assures success in spiritual activities.