There have been many yoga systems popularized in the Western world, especially in this century, but none of them have actually taught the perfection of yoga. In the Bhagavad-gita, Sri Krishna, the Supreme Personality of Godhead, teaches Arjuna directly the perfection of yoga. It is certainly remarkable that the perfection of yoga was taught in the middle of a battlefield. It was taught to Arjuna, the warrior,...
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