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In both East and West, the Bhagavad Gita--the 'Song of the Lord'--is considered the most important work of ancient Sanskrit literature. Part of the great epic poem the Mahabharata, the Bhagavad Gita tells the story of Arjuna, a great warrior and prince, who on the eve of battle experiences doubt and fear at the fighting to come. His charioteer, however, is none other than Lord Krishna, who not only strengthens his heart for battle, but explains to him the many paths of yoga, before revealing himself in all his glory as God incarnate. The Gita has been translated into numerous languages, and many commentaries have been written, especially in India. In an accessible manner, Wilfried Huchzermeyer and Jutta Zimmermann introduce the timeless wisdom of the Bhagavad Gita, and show how it provides essential insights into the world of yoga.