प्राप्य पुण्यकृतां लोकानुषित्वा शाश्वतीः समाः ।
शुचीनां श्रीमतां गेहे योगभ्रष्टोऽभिजायते ।। ६.४१ ।।

prāpya puṇya-kṛtāṁ lokān-uṣitvā śāśvatīḥ samāḥ |
śucīnāṁ śrīmatāṁ gehe yoga-bhraṣṭo’bhijāyate || 6.41 ||

Krishna now goes on to show how one who has slipped from the yoga path maintains continuity of his efforts in later births. The next five verses (6.41 - 45) describe the possible destinies of such a blessed soul.

What is the highest reward a ritualist would get, as promised by the Vedas? At best the holiest worlds above, like heaven, including the brahma-loka, Creator’s world. The merit of rituals does not last long. It has an end, as the ritual itself. The ritualist may, after his term in the higher worlds, come back to the human kingdom, or to the lower ones (imam lokam hinataram va visanti - Mundakopanishad 1.2.10)

But the holy merit of yoga is not so. It entitles the yoga practitioner to live in the higher virtuous world till he feels like coming down. And then, the fate is far better than the one awaiting ritualists. For the yoga sadhaka the possibility of entering the lower levels is not there at all. What a great insurance!

When the yogi gets reborn on earth, Krishna says, two fates are possible: either it will be in good clean families blessed with prosperity and resourcefulness – is this not a covetable promotion, safeguard? – or he will get into a yogic family, intelligent, keen and discriminating.