This is a brief sub-gloss. For a fuller reading of this verse, see Madhusūdana, Śaṅkara, or Rāmānuja above.

Conducting himself in every way, by every kind of conduct, the yogin who sees rightly dwells in Me, in the supreme abode that is Viṣṇu's. He is ever-liberated; he is held back from liberation by nothing whatever. And there is something further.

He who, in the state of discipline, abiding firmly in the oneness, by their having unconstricted knowledge for their single form, with Me who am present in all beings, having given up the difference that belongs to matter, worships Me with firmness, that yogin, even at the time of rising from the discipline, however he goes about, seeing his own self and all beings, abides in Me, sees Me alone. He sees, in his own self and in all beings, at all times, only the likeness to Me. This is the meaning. Then the Lord states the summit.

Krishna makes this very point clear, with 'abiding in all beings'. 'Settled in oneness', settled in the view that everywhere there is but one Lord, he abides in Me alone, however he may be engaged. The sense is that for one who sees thus, directly, the fruit of knowledge is sure. Even so, for the most part he does no unrighteousness, and if one who does it does a great unrighteousness, it is an indicator of a great suffering, as was said before. And it is said, 'never does the buddhi of those who see Vishnu turn to unrighteousness; a slight sin done through heedlessness will be reduced to ashes. How much is done by the first kings, the gods, the seers? Because of the abundance of their action, that lapse is for them only an indicator of suffering'.