Here the Lord even after revealing His own mystery to Uddhava, concludes by saying that the company of the good(Satsang) is the highest means of approaching God. There is no safe boat to cross the formidable Samsara like Satsang. Therefore, Satsanga is one of the Secrets of Sadhana or practice by which an aspirant may reach God.
Do your duties with full attention. Every act is worship and Yoga, if done with the correct spiritual Bhava.