SB 5.6.6
athaivam akhila-loka-pala-lalamo ’pi vilaksanair jadavad avadhuta-vesa-bhasa-caritair avilaksita-bhagavat-prabhavo yoginam samparaya-vidhim anusiksayan sva-kalevaram jihasur atmany atmanam asamvyavahitam anarthantara-bhavenanviksamana uparatanuvrttir upararama.
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
Lord Rsabhadeva was the head of all kings and emperors within this universe, but assuming the dress and language of an avadhuta, He acted as if dull and materially bound. Consequently no one could observe His divine opulence. He adopted this behavior just to teach yogis how to give up the body. Nonetheless, He maintained His original position as a plenary expansion of Lord Vasudeva, Krsna. Remaining always in that state, He gave up His pastimes as Lord Rsabhadeva within the material world. If, following in the footsteps of Lord Rsabhadeva, one can give up his subtle body, there is no chance that one will accept a material body again.
Purport by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
As Lord Krsna says in Bhagavad-gita (4.9):
janma karma ca me divyam
evam yo vetti tattvatah
tyaktva deham punar janma
naiti mam eti so ’rjuna
“One who knows the transcendental nature of My appearance and activities does not, upon leaving the body, take his birth again in this material world, but attains My eternal abode, O Arjuna.”
This is possible simply by keeping oneself an eternal servant of the Supreme Lord. One must understand his constitutional position and the constitutional position of the Supreme Lord as well. Both have the same spiritual identity. Maintaining oneself as a servant of the Supreme Lord, one should avoid rebirth in this material world. If one keeps himself spiritually fit and thinks of himself as an eternal servant of the Supreme Lord, he will be successful at the time he has to give up the material body.