According to the teachings in Chapter 19, what is the ultimate goal of human existence and how can it be achieved?

As detailed in Chapter 19, the ultimate goal and duty of human birth is the fulfillment of the soul through the attainment of the Supreme Self. This attainment is characterized by eternity, fearlessness, liberation, and independence. The chapter outlines a clear path to this goal, stating that there can be no liberation without knowledge. Furthermore, knowledge cannot be attained without detachment. This crucial sense of detachment is sparked only when the mind begins to perceive the world and its attachments as transient. The ultimate goal is described as the state where the senses and mind find rest in the Purusha, the Supreme Being, which is indeed the Pure Brahman.