Trying to understand Bhagavad Gita with one’s own mundane knowledge is like licking a bottle of honey from outside. Only when one becomes a devotee of Lord Krishna, one can understand Bhagavad Gita.
Our own endeavours can only take us to a certain level but ultimate goal will be attained only by the mercy of Vaishnavas and mercy of Krishna.
When one sees the lotus feet of the Lord, all kinds of doubts and fears within the heart are vanquished.
Srimad Bhagavatam 4.24.52,
A man bound by the hands and feet cannot free himself. He must be helped by a person who is unbound because the bound cannot help the bound, the rescuer must be liberated. Therefore, only Lord Krishna or His bona fide representative can release the conditioned soul.