In present Kali Yuga state of self realization can be reached when we followed path of jnana yoga (absolute wisdom), the spirituality contained in Bhagavad Gita.
Self realization in present Kali Yuga cannot be reached via path of karma yoga or bhakti yoga alone. To cut darkness of ignorance, wisdom of Bhagavad Gita is necessitated in present times.
Self realization demands our indulgence in contemplation (chintan) all the time. Only then we can reach the hidden underlying meanings of sacred texts like Bhagavad Gita and Upanishads (independent spiritual treatises).
Self realization requires that we demolish our ego in totality. This is necessitated so that we could hear dictates of Lord Krishna coming from within our heart. At a time only one can rule, our ego or voice of Lord Krishna coming from within.
In absence of guidance from Lord Krishna, the journey of spirituality becomes meaningless. We need guidance of Lord Krishna at each and every stage of spiritual life. I indulged with Lord Krishna from six years of age. Fortunately I could also master the delicate art of contemplation (chintan).
Apart from demolishing ego in totality, we also need overpowering five senses and mind. Only then we can detach ourselves from all earthly bondages of life.
To awaken kundalini shakti fully, we have to practice absolute celibacy for a minimum period of 12 years in continuation. Only then dormant lying portions of our brain activated fully.
Normal human beings used their brain 1 to 2 persons, the remaining always lying dormant. When our kundalini awakened fully, we started using our brain 100%. This is the stage when one is called enlightened one, a self realized soul.
There were so many factors on path of pure spirituality that not even 1% could be described here. It is only when we indulged in spirituality detailed in Bhagavad Gita; we get to know the whole scenario.