Knowing these two paths, O son of Pritha, no yogi is ever confused. Therefore, Arjuna, be steadfast in yoga at all times.
Explanation
Krishna has just described two paths after death, the bright one that leads to no return and the dark one that leads back to rebirth. Here he says the yogi (one disciplined in yoga, inner union with the Divine) who understands them does not fall into delusion (moha). He then urges Arjuna to stay established in yoga (yoga-yukta) at all times. Commentators differ on whether "yoga" here stresses meditation, selfless action or devotion, and the verse can support each reading.