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Bhagavad-Gita : Chapter 2 : Self-realization

Bhagavad Gita 

Eknath Eswaran:

pg.83

Ultimate premise of Self-realization : 

Immortal soul is more important than the passing world! 

Self wears Body as garment; when it is old , it is cast aside

and new one put-on;

Thus Soul or Jiva travels from Life to Life (Rebirth or Samsara)

We cannot realize this Truth if we cannot unentangle from the conditioning of Life : 

Dualities : Pleasure-Pain , Success-failure, Vicotry-Defeat

Gita basically teaches a basic detachment from pleasure and pain;

and defines Yoga: Evenness of Mind : 

as the "Skill in Action"

Yoga is to detach oneself from the dualities of the 

Pain & Pleasure,

Success and Failure; 

Yoga then is defined as the tool :

"To establish oneself in the unshakable equanimity and profound peace of mind"

If in the realm of action , 

His Judgment will be better and his vision clear

If he is not emotionally entangled in Outcome of what he does!