Bhagavad Gita is a masterpiece that is read by millions all over the globe. Its 6th Chapter, commonly known as the Dhyana Yoga or the Yoga of Meditation offers a simple, effective and practical guide for day-to-day living. This book presents a succinct commentary to understand and apply this pristine knowledge for readers of all backgrounds and cultures. The book also contains an extensive discussion on Sanskrit Grammar to aid the students to delve into the intricacies of this ancient language. Verbs, Nouns, Adjectives, Particles are listed clearly. The elemental sounds known as the Dhatus or Roots of the Sanskrit Language are given as they appear in word formations in the Bhagavad Gita. A Devanagari Latin Transliteration section is also present. Well formatted indexes are given for the avid scholar to quickly look-up any entity from the Devanagari verses. A free flowing Hindi and English translation makes the book unique and complete in all respects.