Bhagavad Gita Chapter 11 Verse 55 with commentary by Eknath Easwaran.
Whoever makes Me the supreme goal of all his work and acts without selfish attachment, who devotes himself to Me completely and is free from ill will for any creature, enters into Me. (Bhagavad Gita 11:55)
Commentary by Eknath Easwaran:
This is the vision of the Lord which we can cultivate everywhere, all the time.
Whenever we are able to forget own own petty satisfactions in working for the welfare of the whole, whether it is for our family, our community, or our world, we are becoming a little aware of the Lord.
When we are able to remember that what hurts us hurts others and are refrain from unkindness, we are becoming a little more close to the Lord.
So when the Lord tells us about devotion, He doesn't mean a private relationship between us and the Lord, He means the whole of our relationships with every living creature.