Can you explain the concept of detachment as it relates to achieving the state of Brahman and true liberation?

The source material from Chapter 17 explains that detachment is a critical component for achieving liberation. It involves slowly turning the heart back from worldly objects and stabilizing it in the form of the Self. The text states that a person who is detached from the objects and the enjoyment of fruits in this world and the next is consecrated in the state of Brahman and should be known as liberated. This detachment also includes renouncing dualities like joy and sorrow, an experience that belongs only to the wise and constitutes the Yoga of the Supreme Self.