Eminent yoga teachers Richard Freeman and Mary Taylor explore essential lessons from The Bhagavad Gita to reveal a practical guide for living in today's complex world. The Bhagavad Gita is one of the most influential and widely recognized ancient texts in Indian epic literature. Through the telling of the story and its many different philosophical teachings, the text provides deep insight into how to meet life's inevitable challenges while remaining open, clear, and compassionate. It offers modern day wisdom seekers a framework for understanding our core beliefs and who we really are--revealing the fact that healthy relationships to others and the world are essential to living a full, compassionate, balanced life. Richard Freeman and Mary Taylor, both deeply respected yogic teachers, offer a practical, immediately relevant interpretation that emphasizes self-reflection and waking up in our modern world. Following the traditional sequence of teachings in The Bhagavad Gita--from its opening scene in which Arjuna finds himself in the middle of a battlefield, hesitating and trapped between opposing sides, torn by his dharma and confused by the various paths of action he might choose in the process of awakening--Freeman and Taylor interweave insight into how these classic teachings are relevant for modern readers struggling with what it means to live responsibly in the twenty-first century.