This Bhagavad Gita is inspired by both Swami Bawra and the work of B. G. Tilak’s in his Gita Rahasya. Included is the basic reasoning underlying Tilak’s commentary, and a summary of the background from the Mahabharta to help the reader comprehend the setting of the civil war where this timeless teaching was given by Krishna to Arjuna. Rather than offer commentary within the verses, each chapter begins with an introduction to orient the reader. The verses are grouped according to the topics Krishna presents. This arrangement is an effort to follow Tilak’s example of creating an opportunity for us to do as he suggested, “setting aside all criticisms and commentaries…independently and thoughtfully read the Gita.”