Radhanath Swami explains the method to soul perception

Question to Radhanath Swami: As far as I know and as far as I have read in the religious books, it is said that the ultimate aim of self realization is soul perception. It is also said that a person cannot be trouble free, tension free or fearless until and unless one has attained the stage of soul perception. I would like to know how it is done. What is the actual meaning of this soul perception?
Radhanath Swami Answers: Krishna tells in Bhagavad-Gita

To become Krishna’s dog? That’s difficult!

Question to Radhanath Swami: I have often heard that a devotee should be Krishna’s dog, ready to do everything to serve him. Being a beginner on the path of bhakti this kind of surrender seems to be too high an ideal. How should I adjust my life with this principle?

Radhanath Swami: To be Krishna’s dog is our aspiration and we may be many miles or light years away from that ideal, but we must hold that ideal as sacred in our hearts. When we hear about Krishna’s pastimes in Vrindavan—especially the pure, unconditional, selfless love of the gopis—though our hearts are far away from that ideal, it still remains our aspiration.