Always praising me, striving with firm vows, and bowing to me with devotion, they worship me, ever steadfast.
Explanation
Krishna continues describing the great-souled ones (mahātmās) from the previous verse, who have turned their minds wholly to him. Here he lists how they worship: constant praise or chanting (kīrtana), disciplined effort, firm vows (dṛḍhavrata), and humble bowing in devotion (bhakti). "Ever steadfast" (nityayuktāḥ) means they stay joined with him in yoga, meaning inner union and discipline, at all times.