The beauty of the Lord is that the devotees who are connected with His activities are also glorified. Arjuna, Prahlada, Janaka Maharaja, Bali Maharaja and many other devotees were not even in the renounced order of life, but were householders. Some of them, such as Prahlada Maharaja and Bali Maharaja, were born of demoniac families. Prahlada Maharaja’s father was a demon, and Bali Maharaja was the grandson of Prahlada Maharaja, but still they have become famous because of their association with the Lord. Anyone who is eternally associated with the Lord is glorified with the Lord. The conclusion is that a perfect yogi should always be accustomed to seeing the form of the Lord, and unless the mind is fixed in that way, he should continue practicing yoga.

Srila Prabhupada, SB 3.28.18, purport