The Bhagavad Gita is the fountainhead of Eastern psychology, and this new, authoritative translation and commentary is designed to draw out the psychological concepts of this immortal text and make them accesible to all students. The author focuses on the relevance of these principles to today's world and explains their practical application in daily life. The author shows how each of the eighteen chapters of the Bhagavad Gita constitutes a separate lesson in truth and life. Each chapter describes a different aspect of the process of Self-realization, and the practices themselves progress toward the goal of life.