The Supreme Lord said: I instructed this imperishable science of yoga to the sun-god Vivasvan, who taught it to Manu, who in turn taught it to Ikshvaku.

This supreme science was thus received through the chain of disciplic succession, and the saintly kings understood it in that way. But in course of time the succession was broken, and therefore the science appears to be lost.

That very ancient science of yoga I am today declaring to you, because you are My devotee and My friend. This is indeed a supreme secret.

Arjuna said: The sun-god was born long before You. How am I to understand that You instructed him in the beginning?

The Supreme Lord said: Many births have passed for you and for Me, O Arjuna. I remember all of them, but you do not, O subduer of enemies.

Although I am unborn and imperishable, although I am the Lord of all beings, I manifest Myself through My own divine energy, keeping My nature under control.

Whenever there is a decline in righteousness and an increase in unrighteousness, O Arjuna, at that time I manifest Myself.

To protect the righteous, to annihilate the wicked, and to re-establish dharma, I appear age after age.

One who knows in truth the divine nature of My birth and activities does not, upon leaving the body, take birth again, but attains Me, O Arjuna.

Being freed from attachment, fear, and anger, fully absorbed in Me, taking refuge in Me, many have become purified by the austerity of knowledge and have thus attained My nature.

In whatever way people approach Me, I reward them accordingly. Everyone follows My path in all respects, O Partha.

Those desiring success in their actions worship the gods in this world, for success from action comes quickly in this human world.

According to the three modes of material nature and the work associated with them, the four divisions of human society are created by Me. Although I am the creator, know that I am the non-doer and unchangeable.

Actions do not affect Me, nor do I desire the fruits of action. One who understands this truth about Me is also not bound by actions.

Knowing this, the ancient seekers of liberation also performed their duties. Therefore, you too should perform your duty, following the footsteps of the ancients.

What is action? What is inaction? Even the intelligent are confused about this. I shall explain to you what action is, knowing which you shall be liberated from evil.

The nature of action is very difficult to understand. One must understand the nature of prescribed action, forbidden action, and inaction.

One who sees inaction in action and action in inaction is wise among people. Such a person is a yogi and has accomplished all actions.

One whose every undertaking is free from desire and selfish purpose, and whose actions are burned up in the fire of knowledge - such a person is called wise by the learned.

Having abandoned attachment to the fruits of action, ever content, depending on nothing, such a person, though fully engaged in action, does not do anything at all.

One who is free from expectations, with mind and self controlled, who has given up all possessions, performing only bodily actions, incurs no sin.

Content with whatever comes by chance, beyond dualities, free from envy, equal in success and failure - such a person, though acting, is not bound.

For one who is free from attachment, who is liberated, whose mind is established in knowledge, who works as sacrifice, all action dissolves completely.

Brahman is the offering, Brahman is the oblation poured into the fire of Brahman. Brahman is attained by one who is absorbed in Brahman in action.

Some yogis worship the gods through sacrifices; others offer the self as sacrifice in the fire of Brahman.

Some sacrifice hearing and the other senses in the fire of restraint; others sacrifice sound and other sense objects in the fire of the senses.

Others sacrifice all the functions of the senses and the functions of the life force in the fire of the yoga of self-restraint, kindled by knowledge.

Some offer material possessions, some offer austerities, some offer yoga practices, and others of strict vows offer study and knowledge as sacrifice.

Still others, devoted to breath control, offer the outgoing breath into the incoming and the incoming into the outgoing, restraining the flow of both.

Others who regulate their diet offer the life breath into the life breath. All these understand sacrifice, and by sacrifice their sins are destroyed.

Those who partake of the nectar of the remnants of sacrifice go to the eternal Brahman. O best of the Kurus, this world is not for one who makes no sacrifice, let alone the next.

Thus many kinds of sacrifices are spread through the mouth of the Vedas. Know them all to be born of action, and knowing this, you shall be liberated.

O scorcher of foes, the sacrifice of knowledge is superior to material sacrifice. All actions in their entirety culminate in knowledge, O Partha.

Learn the truth by approaching a spiritual teacher. Inquire submissively and serve them. The self-realized souls can impart knowledge to you because they have seen the truth.

Having known this, you will never again fall into delusion, O Pandava. By this knowledge, you will see all beings in the Self and also in Me.

Even if you are the most sinful of all sinners, you shall cross over all sin by the boat of knowledge alone.

As a blazing fire turns firewood to ashes, O Arjuna, so does the fire of knowledge burn to ashes all karmas.

In this world, there is nothing as purifying as transcendental knowledge. One who has attained perfection in yoga finds this knowledge within the self in due course of time.

The one who has faith, is devoted to it, and has controlled the senses attains knowledge; having attained knowledge, one quickly attains supreme peace.

The ignorant, the faithless, and the doubting self go to destruction. For the doubting soul there is neither this world, nor the next, nor happiness.

O Dhananjaya, one who has renounced actions by yoga, whose doubts are cut asunder by knowledge, and who is self-possessed - actions do not bind such a person.

Therefore, with the sword of knowledge, cut asunder the doubt in your heart that is born of ignorance. Take refuge in yoga and arise, O Bharata!