One who acts to serve Krishna with his body, mind, intelligence and words is a liberated person, even within this material world.
The path of liberation, as recommended by all authorities, is to serve the mahatmas/transcendentalists. Even if one has no assets of favorable austerity, if he nevertheless takes shelter of the mahatmas, who are engaged in chanting and hearing the glories of the Lord, he is sure to make progress on the path back home, Back to Godhead.
The flow of devotional service is so potent that any onlooker also becomes liberated from the influence of the modes of passion and ignorance.
One can attain the path of liberation from material bondage only by rendering service to highly advanced spiritual personalities.
Whatever our destiny is, whatever our Karma is, if we simply accept the mercy of Guru, "Guru Kripa", it can completely liberate us from all of our previous Karmic bondage.
The Supreme Lord manifested the material intelligence, senses, mind and vital air of the living entities so that they could indulge their desires for sense gratification, take repeated births to engage in fruitive activities, become elevated in future lives and ultimately attain liberation.