VI: 41

Chapter 6, Verse 41

"They will dwell for many long years
In the realm of those who do good,
And then those who fell away
From the practice of Yoga
Will be born again into a family
Of the good and the great."

Swami Satchidananda:

Krishna is saying in so many words, "Please don't worry.  If you have practiced Yoga, upon the death of the body, you will go to another plane, another level, which you may call heaven.  There you will enjoy the effects of your meritorious deeds.  Then, when you come back, you will be given a new body and birth in a better family, a pure and righteous family, so that you will have a proper environment in which to continue your quest."

Sri Eknath Easwaran:

If you ask my mother how she accounts for her boy, who led such an ordinary life, becoming aware of his real father, she will say that I have been looking for him for many centuries, practicing meditation and calling, "Where are you, Dad?" until one day he said, "Here I am, son."