Srimad Bhagavadgeeta : Chapter : 4. ( Jnana karma sanyasa yogam ) Slokam : 9 : (Lord Srikrishna reveals the secret of his Avatar to Arjuna )
Janma  karma  ca 
me  divyam  evam 
yo  vetthi  tattvatah,
Tyaktva  deham  punarjanma 
naiti  mameti  sorjuna.
Arjuna  =  Dear Arjuna,
Me divyam  janma  =  My
divine janmam,
Karma ca evam tattvatah 
=  Karmam  this tattvic ( principle ) way,
Yah vetthi  sah  = One 
who  knows,
Deham  tyaktva  = 
Sacrifice (leave )  his  body,
Punar  janma  na 
eti  =  Thereafter never attain rebirth,
Mam  eti  = ( But ) attain ( unite with )  me. ( He becomes God himself, Jeevatma and
Paramatma supreme union ).
In the last  slokam (
8th ), Avatharam (Incarnation) what for? , and how it is possible? ,
after explaining these things in general, Lord declares :  “Those who understand my the Avatar leelas (
plays ), thereafter, continuously meditate come out of all bounds of
relationships, and unite with the Supreme Truth The Infinite. The Sanskrit word
‘Tattvatah’ indicates this, that it is not a simple knowing of information, but
is a full complete Union of Atmas : ‘BLISS’ that, again confirmed: “The Supreme
Lord takes Avatharam in us. “
Now practically we have an uncertain, limited life , yes it
is true,  but, sometimes, when we
involved in un-selfish , pure and holy thoughts ( for short moments ), then
this same life itself obtain a Divine nature, yes we feel this on certain
occasions.
Sakaropasanam is like Nirakaropasanam only; this slokam
points this for development in spirituality. There are few vedantins who do not
aware of (dislike/ hate)  Avatarasangalpams.
They are barking on shadows. Upasana whether it is Sagunam or Nirgunam, if the
Upasaka is honest and sincere, leads him to Supreme Truth.
A special mention is here about ‘Parama padham’, “It is a
state, where there is no rebirth”. Earlier In Vedic sciences this state is
called as ‘Amaratvam’ ( No Death ). Later that has changed into ‘Ajam’ ( No Birth
). This change in expression shows the ‘the development in intelligence in that
period of time’.  A society in which the
people are immature, fears about death. But when they attain mature mind, they
begin to fear not death, but a rebirth. Why, because, it will be a restart to a
new beginning to a life of sufferings. 
Death is for the one who takes birth, hence when it is said
no death means no birth only. The Sanskrit word ‘Ajam’ indicates the progress
in our mental maturity.
“This ‘MOKASHA-MARGHAM’IS NOT USED FOR PRESENT NECESSITY BY LORD
SRIKRISHNA, BUT ALREADY EXISTING FROM ANCIENT DAYS.”  
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Note :-    
UPASANA = (UPA + ASANA) =(NEAR/ CLOSER + FIRM)= Keep closer and
firm towards the Lord)
1.      
Service,  2.
Nursing, 3. Divine/ True love, 4. Meditation, all is Upasanas.
2.      
Upasana 
what for/ why? : To uplift mind, to develop intelligence.
3.      
Moksham : Moha-Kshayam = defeat/decay of
moham/desire.
4.      
Saguna 
Aradhana = very close to the Lord. 

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