Reddit reviews The Essence of the Bhagavad Gita: Explained By Paramhansa Yogananda, As Remembered By His Disciple, Swami Kriyananda
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The Gita is quite fascinating but rather esoteric and difficult to understand upon first approach. It really helps to read a version with explanations as even the names have deeper meanings. I'd recommend Essence of the Bhagavad Gita, The Yoga of the Bhagavad Gita or, if you're really bold, God Talks with Arjuna.
As I understand it, The Gita is essentially instruction for Yoga (meaning union as opposed to bendy-practice.)