What is the way God has prepared for man to be saved?
Baptism
Dying in state of grace (no mortal sin)
Belief in divinely revealed doctrine. Available in the Bible or as summarized in the Catholic Catechism
http://www.usccb.org/beliefs-and-teachings/what-we-believe/catechism/catechism-of-the-catholic-church/index.cfm
Being a practicing member of the Body of Christ in the Church founded by Jesus.
Prayer and the Sacraments
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Please explain the salvation of the thief on the cross beside the LORD Jesus Christ...
Please explain how the Old Testament Saints were saved.