Sanskrit is the mother lode of Scriptures. It is the storehouse of all that is benign and worthwhile. Most of us are however not in a position to unlock the power and efficacy of our ancient heritage, being out of touch with this Divine Language. The Srimad Bhagavad Gita is a scripture of enduring and all-encompassing munificence. Anyone in this entire planet has and can benefit from just a few verses from the Bhagavad Gita. This book is an attempt to unlock the Sanskrit in the Gita, using lucid commentary in English and grammatical analysis of verses in Devanagari. The 6th chapter is unique. It is the Yoga of Self-Control. It portrays the Yoga of Meditation i.e. Dhyana. A free-flowing Hindi and English essential meaning of verses makes the book useful for all. Well formatted Dhatu, Word and Pada Indexes make this edition a useful work for scholars and academicians worldwide.