Krishna taught Arjuna how to free himself from despair by adhering to his prescribed duty. Krishna taught Arjuna the truth of the immortal self, and showed him that his duty was to follow the inner promptings of the Lord, who was enshrined in his heart. All my delusion is now gone. As long as you have delusion you will be in a state of bondage. When you suffer from delusion and infatuation, liberation is impossible.
Liberation has nothing to do with worldly pleasures.
It is not an air-conditioned car or a comfortable life. It is the complete destruction of delusion. It is the extinction of all worldly attachments, the incineration of all selfish desires. From now on, do your duty to perfection and become ideals for mankind. Apply the teachings of the Gita in your daily life and be blessed with grace.