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Gyan Karmasanyas Yoga :- SHLOK 01
1. This Yoga of Devotion to knowledge taught in the last two Discourses, accompanied with renunciation and attained by means of KarmaYoga; this Yoga in which the Vedic teaching regarding the life of activity and retirement (Pravritti and Nivritti) is comprehended,it is this Yoga which forms the subject of the Lords teaching throughout the Gita. Thinking, therefore, that the Vedic Doctrine has been concluded, He extols it by relating its pedigree.The Blessed Lord said:I taught this imperishable Yoga to Vivasvat ; Vivasvat taught it to Manu ; Manu taught to lkshvaku.This Yoga, treated of in the two preceding Discourses, I taught to the Sun (Vivasvat) at the commencement of Evolution in order to infuse strength into the Kshatriyas, the rulers of the world. It is only when possessed of the strength of this Yoga that they can protect the Brahmanas, the spiritual class. But when the spiritual and ruling classes are well maintained, it is possible to maintain the world. That Yoga is imperishable, because of its imperishable results. Indeed, Moksha, the fruit of this Yoga of complete devotion to right knowledge, never perishes. Vivasvat taught it to Manu ; and Manu taught it to his son Ikshvaku the first ruler.
Sri Shankaracharaya
1. Bhagavan, who had in the previous chapter indicated Karma Yoga and Jnana that is produced from it in a brief manner, mentions the lineage of the Achaaryas who had taught this Yoga and with a view to concluding this teaching states: "Oh, Arjuna I had taught in the past this Jnana Yoga which is obtained from Karma Yoga to Vivaswatha; he had taught that to Manu and Manu had taught Ikshwaaku.
Sri. Gangolli D.B
 
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