<https://www.iskconbooks.com/product/the-perfection-of-yoga/#product>
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"What does it mean to practice yoga perfectly? Is it possible today? Find out.\r\n\r\nThere have been many yoga systems popularized in the Western world, especially in this century, but none of them have actually taught the perfection of yoga. In the Bhagavad-Gita, Sri Krishna, the Supreme Personality of Godhead, teaches Arjuna directly the perfection of yoga. It is certainly remarkable that the perfection of yoga was taught in the middle of a battlefield. It was taught to Arjuna, the warrior, just before Arjuna was to engage in a fratricidal battle."
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