When a devotee is engaged in the service of the Lord, it is called the attainment of yoga. The English equivalent to the word "yoga" is "linking up." So actual linking up with Kṛṣṇa, the Supreme Personality of Godhead, begins when the devotee renders service unto Him. Devotees situated in the transcendental rasa of servitorship render their particular service whenever there is an opportunity. Sometimes they sit down in front of Kṛṣṇa to receive orders. Some persons are reluctant to accept this level of devotional service as actual bhakti-yoga, and in some of the Purāṇas also this servitorship in devotional service to Kṛṣṇa is not accepted as the actual bhakti-yoga system. But in the Śrīmad-Bhāgavatam it has been clearly indicated that the servitor relationship with Kṛṣṇa is the actual beginning of yoga realization.

Chapter 39: Ways of Meeting Krsna