A two-volume translation of and commentary on the Bhagavad Gita, offering a comprehensive examination of the science and philosophy of yoga. It seeks to break new ground as a revelation of the Gita's most profound spiritual, psychological and metaphysical truths, long obscured by metaphor and allegory. The author outlines the Gita's balanced path of meditation and right activity, and shows how we can create for ourselves a life of spiritual integrity, serenity, simplicity and joy. Included are Sanskrit transliterations of each verse, along with subject guides and a 37-page index.