Bhagavad Gita Chapter 5, Verse 17

तद्बुद्धयस्तदात्मानस्तन्निष्ठास्तत्परायणाः | गच्छन्त्यपुनरावृत्तिं ज्ञाननिर्धूतकल्मषाः ||

tad-buddhayas tad-ātmānas tan-niṣṭhās tat-parāyaṇāḥ gacchanty apunar-āvṛttiṁ jñāna-nirdhūta-kalmaṣāḥ

Those whose intellect is fixed on That, whose self is fixed on That, who are established in That, and who are devoted to That—their sins destroyed by knowledge, they go to the state of no return.

Krishna describes those who attain liberation: their intellect (buddhi) is fixed on That (the Supreme), their self (ātman) is fixed on That, they are established (niṣṭhā) in That, and they are devoted (parāyaṇa) to That. Their sins (kalmaṣa) are destroyed (nirdhūta) by knowledge (jñāna). They go (gacchanti) to the state of no return (apunar-āvṛttiṁ)—liberation. This means those who are completely focused on the Supreme, established in knowledge, and devoted to That, attain liberation. The key is complete dedication—intellect, self, establishment, and devotion all directed toward the Supreme. Knowledge destroys the sins that create bondage, and devotion leads to liberation.