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"Bhakti, or devotional service, means engaging all our senses in the service of the Lord, the Supreme Personality of Godhead, the master of all the senses. When the spirit soul renders service unto the Supreme, there are two side effects. One is freed from all material designations, and one’s senses are purified simply by being employed in the service of the Lord." (Cc. Madhya 19.170)

Sarvopadhi-vinirmuktam. You have to be free from all material designations, such as, "I am a king," "I am a subject," "I am the husband of this lady," or "I am a wife." Tat-paratvena nirmalam. There are two principles in this world. One is tat-padartha and another tam-padartha. Tat means Bhagavan, and tam means the jiva. Tat-paratvena. You have to be absorbed completely in the bhajana of Bhagavan, who sad-vastu, the reality. Then your heart will be pure. Tat-paratvena nirmalam / hrsikena hrsikesa-sevanam. After that, being pure hearted, you should serve God with all of your senses. Ambarisa Maharaja has shown us the light of how to serve God with all one's senses. If you do that, then it will be bhakti.