सर्वभूतस्थितं यो मां भजत्येकत्वमास्थितः | सर्वथा वर्तमानोऽपि स योगी मयि वर्तते ||६-३१||
sarvabhūtasthitaṃ yo māṃ bhajatyekatvamāsthitaḥ . sarvathā vartamāno.api sa yogī mayi vartate ||6-31||
6.31. He, who, established firmly in the oneness (of Me), experiences Me immanent in all beings-that man of Yoga, is never stained, in whatever stage he may be.
Shri Purohit Swami
6.31 The sage who realises the unity of life and who worships Me in all beings, lives in Me, whatever may be his lot.
Sri Abhinav Gupta
6.31 Sarva - etc. Whosoever is completely possessed of the knowledge of this kind, he necessarily realises the Bhagavat as one and immanent in all and does not get stained [by any of his actions] is whatever condition he is.
6.31 (iii) The Yogin who, fixed in the state of Yoga in oneness because he has the same form of uncontracted knowledge (as Myself), worships Me steadfastly by renouncing the differences of the Prakrti (i.e., of the body) - then that Yogin, even while coming out of Yoga, howsoever he may live, views Me only, when viewing his own self and all other beings. The meaning is that he views his similarity to Myself in his own self and in the self of all beings.
Now Sri Krsna proceeds to speak of the maturest stage beyond this:
This being so, i.e. after reiterating (in the first line of the present verse) the idea of full realization contained in the previous verse, the result of that (realization), viz Liberation, is being spoken of (in the second line): The yogi, the man of full realization; vartate, exists; mayi, in Me, in the supreme state of Visnu; sarvatha api, in whatever condition; vartamanah, he may be. He is verily ever-free. The idea is that he is not obstructed from Liberation by anything. Furthermore,
6.31 The Yogin who, fixed in oneness, worships Me dwelling in all beings - he abides in Me, howsoever he may live.
6.31 That yogi who, being established in unity, adores Me as existing in all things, he exist in Me-in whatever condition he may be.
6.31 He who, being established in unity, worships Me Who dwells in all beings, that Yogi abides in Me, whatever may be his mode of living.
6.31 सर्वभूतस्थितम् abiding in all beings? यः who? माम् Me? भजति worships? एकत्वम् unity? आस्थितः established? सर्वथा in every way? वर्तमानः remaining? अपि also? सः that? योगी Yogi? मयि in Me? वर्तते abides.Commentary He who has dissolved all duality in the underlying unity? who is thus established in unity? who worships Me? i.e.? who has realised Me as the Self of all? dwells always in Me? whatever his mode of living may be. He is ever liberated.Sadana lived in God though he was a butcher because his mind was ever fixed at the lotus feet of the Lord.