Without vidhi-bhakti you cannot reach to the platform of raga-bhakti, although that is our aim. Raganuga, raga-bhakti is executed following the footprints of the devotees in Vrndavana. That is called raga-bhakti. Krsna's personal associates. Not to become directly Krsna's personal associate, but following the footprints of Krsna's eternal associates we can come to the
stage of raga-bhakti.

Srila Prabhupada, Srimad-Bhagavatam 3.26.35-36 — January 12, 1975, Bombay