Part 28 - Chapter 1, Stanza 27-41 (an brief overview of these stanzas). http://www.crystalclarity.com/product.php?code=BEBPB The Essence of the Bhagavad Gita Explained by Paramhansa Yogananda as remembered by his disciple, Swami Kriyananda. This book shares the profound insights of Paramhansa Yogananda, author of Autobiography of a Yogi, as remembered by one of his few remaining direct disciples, Swami Kriyananda.
This revelation of India's best-loved scripture approaches it from an entirely fresh perspective, showing its deep allegorical meaning and also its down-to-earth practicality. The themes presented are universal: how to achieve victory in life in union with the divine; how to prepare for life's "final exam," death, and what happens afterward; how to triumph over all pain and suffering.
Swami Kriyananda worked with Paramhansa Yogananda in 1950 while the Master completed his commentary of the Bhagavad Gita. At that time Yogananda commissioned him to disseminate his teachings world-wide. Kriyananda has in his lifetime lectured, taught, and written over one hundred books based on Yogananda's teachings.
The Essence of the Bhagavad Gita is available from Crystal Clarity Publishers.