Kṛṣṇa describes the historical path taken by those who achieved liberation. They were freed from the ‘three poisons’ of material life: attachment, fear, and anger. They became ‘man-mayā’, or fully absorbed in the Lord, and took complete shelter under His protection. They were purified by ‘jñāna-tapasā’, the austerity of knowledge. Seeking the Truth is a form of penance because it requires one to give up comfortable illusions. Through this purification, many souls in the past have attained ‘mad-bhāvam’, or the Lord’s own divine nature and love. By mentioning ‘bahavaḥ’ (many), Kṛṣṇa confirms that this path is a proven road, not a new or theoretical one. It is open to anyone willing to undergo the necessary internal cleansing. This verse encourages Arjuna by showing him that his journey towards Kṛṣṇa is part of a grand tradition of successful spiritual seekers.