This answers Arjuna’s third question

To contemplate steadily upon the Infinite Nature of the Self is to become the Self and thus end our mortal Egoism. Such a steady contemplation cannot be maintained always effectively. We are not capable of maintaining our mind in meditation all the time. Therefore Sri Krishna advises a practical method of maintaining a thought for a longer period of time through a process of dedicated service. If all the work is undertaken in a spirit of dedication and service, then work becomes worship.

This is an instance where Gita expects not only devotion to The Lord but that devotion should also be given to every day life’s activities and their contacts with the others around. Such a practice of dedicated service and God-awareness stills the agitations of the mind and prepares it for intensive meditation.

Such a seeker is fit to become Brahman just as if a dreamer wants to realize the waker he becomes a waker.

The commentary on this verse and the rest, is avaialble for free as:
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And he-be he a monk or a man of action (rites and duties)-, yah, who; sevate, serves; mam, Me, God, Narayana residing in the hearts of all beings; avyabhicarena, through the unswerving-that which never wavers-; bhakti-yogena, Yoga of Devotion-devotion [Bhakti (devotion), supreme Love, through which one becomes united (with God) is yoga.] itself being the Yoga-; sah, he; samatitya, having transcended; etan, these; gunan, qualities as described; kalpate, qualifies, i. e. becomes fit; brahma-bhuyaya,-bhuyah is the same as bhavanam-, for becoming Brahman, for Liberation. How this is so is being stated: