According to the teachings mentioned in Bhagavad Gita Chapter 4, Verses 33-35, achieving liberation involves seeking guidance from Tatvadarshi Saints who possess comprehensive knowledge about the Supreme God. By humbly approaching these enlightened saints, learning the path to realizing Purna Parmatma (Supreme God), acquiring tatvagyan (spiritual knowledge), receiving naam updesh (initiation), and engaging in intense devotion (Satyanaam and Saarnaam) under the guidance of a Complete Guru, one can attain liberation.