When can one attain pure devotional service?
When the “distressed” living entities give up their desire for material enjoyment, when the “inquisitive” living entities give up their desire for worldly morality, when the “needy” living entities give up their desire for attaining heavenly pleasures, and when the “impersonalists” give up their desire for merging into the existence of Brahman and their thinking that the Absolute Truth is temporary, then these four types of living entities can become eligible to perform devotional service.
As long as they maintain such desires their devotional service is impure and materially designated.
When their desires are destroyed, then their devotional service is called pure unalloyed devotional service.
(Commentary on Bhagavad-gita 7.16)
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