योगिनामपि सर्वेषां मद्गतेनान्तरात्मना।श्रद्धावान्भजते यो मां स मे युक्ततमो मतः॥
yoginām api sarveṣāṃ mad-gatenāntar-ātmanāśraddhāvān bhajate yo māṃ sa me yuktatamo mataḥ
Word by word
The verse says
And of all practitioners, the one who has gone into me with his innermost self, full of trust, devoted to me — he is held by me to be the most joined of all.
In plain words
The chapter ends by ranking one more time, and the winner is a surprise.
Not the most disciplined. Not the one who sits longest.
Śraddhāvān bhajate — the one who trusts, and is devoted.
Where you've felt this · in family life
The relative who visits is not the one who sends the longest messages. Everybody in the family knows which is which, and nobody ever says it out loud.
Going deeper
After a chapter of technique, the last word goes to something no technique produces.
The seat, the spine, the measured food, the endless returning of the mind — all of it real, all of it recommended. And then the most joined of all turns out to be the one who trusts and is devoted, with no posture specified.
Antarātmanā — with the innermost self. Not with effort, not with attention. With whatever is furthest in.
That is the Gita's standard closing move and it is not a dismissal of what came before. The techniques are how most people get the innermost self pointed anywhere at all. But they are not the thing itself, and the chapter will not end by pretending otherwise.
It also sets up what follows. Chapter 7 opens on devotion directly, and this last verse is the hinge it turns on.