Be a yogi. That is christna's exhortation to arjuna, sixth chapter. Anda, in each of those chances, you build upon whatever you have got in past lives. And also guaranteed, at the end of it all, you will become enlightened. You will attain to self, knowledge god, god, realization, whatever you call it.
Swami Sarvapriyananda teaches Chapter 6 (Verses 43-47 and chapter summary) of the Bhagavad Gita. In this series of talks, Swami Sarvapriyananda unfolds the highest truths of Vedanta through the study of the Bhagavad Gita (The Song of God).