Bhakti Recovery with Jiva / bewilderment through material objects is the first level of illusion - denial of the personal form is the second / the goals of yoga (a peaceful mind, no more material desires, love for every living being, etc) are not beyond us if we can engage with detachment & devotion / Arjuna's admitted inability to practice a yoga of renunciation / yoga of devotional service is sukham (easy, happy)
SB 3.5.45
