This is the first half of a pair (12.6-7) that forms the emotional heart of the entire chapter. Krishna describes a particular kind of devotee: one who offers every action to Him, holds Him as the highest goal, and meditates on Him with absolutely undivided attention.
Three elements define this devotee. First, karma-arpana — every action, large or small, is surrendered to Krishna. Second, matparah — Krishna alone is the ultimate destination. Third, ananya yoga — there is no split loyalty, no second object of devotion. Like a mother whose every waking act revolves around her newborn — cooking, cleaning, working, all for that one being — this devotee's entire life orbits Krishna.