The previous chapter revealed the science of bhakti or loving devotion to God. This chapter is about the yoga of understanding. In this chapter, Shri Krishna desires to increase Arjun’s bhakti by describing His infinite glories and opulence. He helps Arjun to meditate on God by reflecting upon His magnificence.  Lord Krishna reveals that He is the source of all that exists. In these verses, Krishna reminds Arjuna that one of his manifestations is the Self. The Self, or soul, of each being, is ultimately Krishna. This means that Krishna is manifest in all beings. Arjuna wants to know where to place his focus, and Krishna reminds him that by meditating on the Self, Arjuna worships Krishna.  The various exceptional qualities in humans also arise from Ishwar. Those devotees who know this engage in His devotion with great faith. They derive immense satisfaction by conversing about His glories and also help enlighten others about them. God dwells in the hearts of such devotees whose mind is always united in Him. He then bestows upon them His divine knowledge, through which they can attain God-realization.  In other words, when a person worships Krishna in actions, God then gives that person wisdom as well. In this way, the yoga of action leads to the yoga of understanding.  
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