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To get to heaven, one must observe the commandments of God. These commandments are not just stated in the Gospel; Our Lord said, "Observe the commandments of God, and you will go to heaven," with His grace, of course. And as for prayer, St. Alphonsus said, "He who is praying will be saved."
So, observe the commandments of God and pray. Observing the commandments means both believing and acting. As for how many will be saved, God did not reveal to us the exact number.
However, we do have some indications in the Gospel. Our Lord said that the way to heaven is narrow, and few find it, while the way to perdition is wide, and many go that way. But how many, ultimately, will be in heaven or in perdition? We do not know for sure.
Yet, it is a serious admonition from Our Lord that the possibility of being lost is great. While we do not know the exact outcome, the possibility of being lost is greater than that of being saved. Therefore, we must preach the Gospel to people and lovingly invite them to convert.