Self-realization — the direct, unmediated recognition of one's own true nature as the imperishable Self — is the summit toward which all the Gita's paths climb. It is not a doctrine to be memorised but a knowing to be lived. Krishna describes it in many ways: as the sight of the Self in all beings and all beings in the Self (6.29), as the equal vision that beholds Brahman in the learned Brahmin and the outcaste alike (5.18), as the peace that comes when the senses are withdrawn 'as a tortoise withdraws its limbs from all sides' (2.58).
What distinguishes the Gita's account is its insistence that self-realization is not an escape from the world but a transfigured way of being in it. The realized person continues to act; but the action arises effortlessly, without egoic craving, from the depths of freedom. This person is called by many names — sthita-prajna, gunatita, jivan-mukta — and the Gita's descriptive verses are among the most cherished in the whole tradition.
Read these together to build a composite portrait. The realized one is not different in outward form from other people; the difference is interior, and it changes everything.