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Bhagavad Gita Chapter 4 Verse 3

भगवद् गीता अध्याय 4 श्लोक 3

स एवायं मया तेऽद्य योगः प्रोक्तः पुरातनः।
भक्तोऽसि मे सखा चेति रहस्यं ह्येतदुत्तमम्।।4.3।।

हिंदी अनुवाद - स्वामी रामसुख दास जी ( भगवद् गीता 4.3)

।।4.3।।तू मेरा भक्त और प्रिय सखा है इसलिये वही यह पुरातन योग आज मैंने तुझसे कहा है क्योंकि यह बड़ा उत्तम रहस्य है।

Shri Vaishnava Sampradaya - Commentary

Lord Krishna is suggesting that it should not be presumed that the yoga or knowledge of the individual consciousness in communion with the Ultimate Consciousness being given by him is just a persuasive speech intended to prompt one to do their duty; for He now reveals that He also instructed it to Visvavan the demi-god controlling the sun, as a way of attaining moksa or liberation from the cycle of birth and death. A method intended for the salvation of all the universes and a measure designed to benefit all of creation, truly being the sublime goal of humans. Visvavan taught it to Manu who instructed it to Ikshavaku and so on successively until it was transmitted to the saintly kings from the mouths of their spiritual masters. But due to the passage of time and dull understanding of humanity this knowledge was lost and forgotten. But the very same yoga, pure and pristine is being revealed in all its entirety and details by Lord Krishna because Arjuna has taken full shelter in Him in loving devotion as the only refuge. No one other then the Supreme Lord Krishna is able to originally explain the Bhagavad-Gita as it is the essence of the sublime wisdom of all the Vedas and encapsulates the mysteries of Vedanta.