The Bhagavad-Gita: Translation and Commentary

Gita teaches man the essentials of living in this world and beyond: Your soul is eternal and indestructible; the body beautiful is only a garment; beings and universe arose from an act of sacrifice by God; the burden of samsara (cycle of births and rebirths) can be shed by devotion to God; man by his conduct creates his own dharma and karma, which control the present and the future; plants, animals and men have souls, some sentient and some insentient; our roots are in heaven; doing one's dharma(duty)by itself is yoga; liberation is the only goal of man; there are many ways and means to attain God and nobody is excluded.