Chapter VI Sloka 41

aPy pu{ykta< laekanui;Tva zatI> sma>,
zucIna< Imta< gehe yaegae=i-jayte .

prpya puyakt lokn
uitv vat sam | 
ucn rmat gehe 
yogabhrao'bhijyate ( 6|41)||

Having attained to the worlds of the righteous and having dwelt there for everlasting years, he who fell from Yoga is reborn in a house of the pure and wealthy.
Yogabhrashta: one who has fallen from Yoga, i.e., one who was not able to attain perfection in Yoga, or one who climbed a certain height on the ladder of Yoga but fell down on account of lack of dispassion or slackness in the practice (by) becoming a victim to Maya or his turbulent senses).
The righteous: Those who tread the path of truth, who do virtuous actions such as charity, Yajna, rituals, worship of the Lord, and who act in accordance with the prescribed rules of the scriptures.
Everlasting years means only a considerably long period but not absolutely everlasting.
The pure: those who lead a pure, moral life; those who have a pure heart (free from jealousy, hatred, pride, greed, etc.). (compare: Ch. IX - 20, 21)