It is true that by practicing restraint of the senses by the yoga system one can get relief from the disturbances of desire and lust, but this is not sufficient to give satisfaction to the soul, for this satisfaction is derived from devotional service to the Supreme Personality of Godhead. — Srimad Bhagavatam, 01.16.35.
One can understand the Supreme Personality as He is only by devotional service and when he is in full consciousness of the Supreme Lord by such devotion, he can enter into the kingdom of God. — Bhagavad Gita, 18.55.
The Kingdom of Godhead is not a myth but it is situated far beyond the boundary of the material cosmos and one can know it by the process of devotional service only.
The real result of devotional service is the awakening of pure love for the Supreme Personality of Godhead, which continues under all circumstances.
Srimad Bhagavatam 5.24.19,