In the Upanishads, (another vedic text), it also says there are two paths to self-realization, the lower and higher paths.
The first is doing good deeds for some reward (including heaven).
The higher path is doing good deeds just for the sake of doing them. The deed itself makes the person feel grateful to be allowed to do the good; and that is reward enough for them.
It is the higher path that more quickly brings one to self-realization. Focus on the journey not the destination.
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