A concise summary of Srimad Bhagavatam Canto 3 Chapter 32
Lord Kapila explains the spiritual outcomes based on one’s mental framework and corresponding activities.
When a human being:
Performs necessary duties as a householder and worships many celestial Gods to attain wealth and enjoyment by being religious: Such a man reaches heavenly planets led by Indra after this life for a specified duration. One the duration is over, then he takes birth on the planet Earth again
Performs necessary duties without making wealth and enjoyment as his objectives but works towards attaining pure mind and giving up ego and worships the Supreme Lord Vasudeva in love and devotion: Such a man reaches the spiritual realm of the Supreme Lord and never takes birth again
Follows a yogic process and attains perfection in that process while focused on self-realization: Such a man reaches the planet of Lord Brahma and will wait there until Lord Brahma completes his 100 years. Then he potentially gets to merge into the Supreme Spirit
The goal of any yoga is to develop detachment from the matter, enjoyment, fame, wealth and ego. A person who has attained this state in his yoga practice realizes that he is pure consciousness and is beyond matter.
While some yogis are interested in self-realization, other yogis are interested in God-realization through devotion. Both of them have the same objective to attain the Supreme but each one’s realization is different. Just as a flower can be experienced as a structure of atoms through scientific analysis or as a flower that has a shape and fragrance, similarly a yogi in self-realization experiences himself to be a spiritual atom (Brahman) in the ocean of Supreme atomic collection (Para Brahman) and a yogi in God-realization gets the direct vision of the All-Attractive Supreme Lord.