What is the path to liberation as outlined in Chapter 19, and what roles do knowledge and detachment play?

Chapter 19 presents liberation and the attainment of the Supreme Self as the ultimate fulfillment of the soul and the primary duty of human birth. The text explicitly states that there can be no liberation without knowledge. Furthermore, this essential knowledge cannot be attained without detachment. The chapter clarifies that the idea of detachment only sparks when the mind begins to perceive the world and its attachments as transient. As long as the ego-driven sense of being a 'doer' and 'enjoyer' persists, the experience of pleasure and pain is unavoidable, hindering the path to freedom described in Chapter 19.