Those, who by virtuous deeds, get their sins attenuated, become freed from the delusion of duality and take to worshipping the Supreme with steadfastness.
To be freed of the congenital delusion of love and hate is not easy. Krishna says only by the power and grace of virtuous deeds, the sin of delusion will get attenuated. The place of good and noble deeds like yajña, dāna and tapas is indispensable and great. Any society should have the discriminational culture of taking to virtuous deeds and shunning vicious ones.
When virtue grows adequately, the hold of the two-fold delusion will dwindle. And devotional interest, involvement and delight will take hold of the mind.
Before long, one will become steadfast in his devotional affinity and alliance. He will begin to worship the Lord ceaselessly with depth and fervour, finding it irresistibly joyful and fulfilling.
Love and hate inhering in one’s own mind are what obstruct devotion, and their redress is the crowning glory of devotion.