If Atma-svarupa is realized & karma-anushtana-s are performed accordingly, it will firmly establish jnana-yoga in us. That is the only want to attain sukha-svarupa Atma.
This can be done even during our dying years & gives pratyaksha-phala.
Better Late than Never!!
Partha, this is the state of Brahman. A person attaining it will never fall from it, even if he's in last stages of his current life
Kuntiputra, this is the lakshana of a Brahma-Jnani. Attaining it, he never feels any pain or sorrow. Even in dying stages he stands firm in this stage & attains apraakrutha Brahma-rupa Vishnu