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Yoga As Rejected By Arjuna
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-gītā , Śrī Kṛṣṇa, the Supreme Personality of Godhead, teaches Arjuna directly the perfection of  yoga . If we actually want to participate in the perfection of the  yoga  system, in  Bhagavad-gītā  we will find the authoritative statements of the Supreme Person.
It is certainly remarkable that the perfection of  yoga  was taught in the middle of a battlefield. It was taught to Arjuna, the warrior, just before Arjuna was to engage in a fratricidal battle. Out of sentiment, Arjuna was thinking, “Why should I fight against my own kinsmen?” That reluctance to fight was due to Arjuna’s illusion, and just to eradicate that illusion, Śrī Kṛṣṇa spoke the  Bhagavad-gītā  to him. One can just imagine how little time must have elapsed while  Bhagavad-gītā  was being spoken. All the warriors on both sides were poised to fight, so there was very little time indeed—at the utmost, one hour. Within this one hour, the whole  Bhagavad-gītā  was discussed, and Śrī Kṛṣṇa set forth the perfection of all  yoga  systems to His friend Arjuna. At the end of this great discourse, Arjuna set aside his misgivings and fought.
However, within the discourse, when Arjuna heard
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