In Bhagavad Gita (the Holy Bible for Hindus) which is more than 6500 years old, Lord Krishna gave his teachings to Arjuna.He defined Yoga as the state of oneness with the supreme power self- gained through the purification of the mind. Yoga means union - Union with a supreme power which is the source of creation, perfection and destruction, Union with the supreme intellect and the guiding force behind the perfect mechanism of the universe. . Gaining union with Him alone is the best Yoga. When we say of a person ‘he has a good yoga’, what we mean is that in his case there is a combination of good thoughts and planets (grahas). Yoga is merging oneself with this force that guides the human being to a state of total bliss. A human being is a small force which unites with the energy prevailing in the vast canopy of the universe. The union is complete and the light of wisdom starts flowing in the human body. The light contains everything a human needs to evolve. A human being is a part of nature and constantly striving for perfection. This is the natural course of evolution because God is the personification of ultimate perfection.

The means to this is desire-less (nishkam) action. What is gained through such action is called Karma yoga. All yogas constitute the true purpose of the Vedas. The Vedas teach the uninterrupted (nirantaram) union with the Supreme Self as the final goal. Antaram means difference (bheda). Nirantaram means without difference (abheda). The union which does not involve any difference is antaranga yoga. It means yoga with knowledge which is the nature of the cosmic self without any difference if there is gained oneness such that there is no separation. If there is a spark of difference, then there is no union.

Swami Yogananda’s Life is one of all-consuming love and service to humanity and is an illustration of Bhagwan Krishna’s assertions in the Geeta.
Lord Krishna talks to Arjuna on this yoga in the Holy Bhagavad Gita. These are: - Karma Yoga - Bhakti Yoga - Jnana Yoga - Kriya or Raja Yoga - Sankhya Yoga.

Arjuna, the disciple of Lord Krishna means ‘purity’. Veda - Hindu ancient scriptures as ancient as God means knowledge. This dialogue between Lord Krishna and Arjuna took place in the battle field of Kurukshetra before the Great War ‘Mahabharata’.
In Holy Gita, Lord Krishna taught Yoga to Arjuna. Lord Krishna said that there are two more paths of action:

“One is known as ‘Karmasamnyasa’ or action through renunciation. I have already explained it to you. According to it, the individual has to act for and behalf of God (as ordained by him).
The other mode of action is known as ‘karmayoga’ and it is easier than ‘karmasamanyasa’. According to the theory of karmayogaman has only the right to act and not to expect the fruits thereof. If the action fails, he is not saddened. This unmoved state of mind is called yoga. Pursuance of an action, while maintaining this state of mind is ‘karma yoga’.
I taught this immortal yoga to Vivasvan, (the Sun God). Vivasvan imparted it to his son Manu and Manu conveyed the same to his son Ikshvaku. Manu means father of the nation. Manu Smriti is written by Manu to teach human beings (Mahusha) how to live in this world. This Yoga, therefore, remained well known to the great royal sages of yore as it was handed down form generation to generation. However, as time lapsed, it was gradually forgotten and lost.
I have disclosed to you the same ancient yoga which is a supreme secret, for you are my devotee and you are my friend.”
Arjuna was exceedingly surprised at this and said “I thought you were born in recent times whereas Vivasvan was born in remote antiquity. How should I then know that you taught Yoga at the commencement of creation?”
“O Arjuna!” said Krishna. “You and I have undergone so many births. I know them all but you don’t.”
Lord Krishna teaches us not to look at the Body of Avatar only. He is beyond that human body He manifests. Listen to His teachings and learn through His activities. Like our Guru is immortal. He is deathless Guru and has manifested many times in different places. He is teaching the Kriya Yoga to the world to become immortal.
“You will not die, should not die and cannot die”. The wise mourn neither for the dead nor for the living. In the Geeta Lord Krishna says, “Arjuna, bear heat and cold, and pleasure and pain as they are ephemeral, being dependent on the senses. The serene existence will lead to immortality.”

The wise know the Truth. “Bodies die but the Truth which possesses the body is eternal and indestructible. This is the Atman (spirit). It is without a beginning and an end. It is unchanging forever. Don’t dream that you will kill the atman. It only sheds bodies like worn out garments and dons new ones. It is not wounded by weapons, burnt by fire, dried by wind and wetted by water.” In Hindi we say: “Sharir ko dukh vyape atma avinaashi.” Our body suffers with all types of sickness and ailments but atman (Spirit) is eternal like God. Our Spirit is Ajar (Eternal), Amar (Immortal) and Avinaashi (non destructible). Sri Krishna asserts in the Gita: “There is nothing in the three worlds, nor anything unattained that might be attained. Yet I mingle in action.”

The lessons and instructions given by Yogoda Sath Sangh are practical and helpful in the quest for knowledge and perfection. The pursuit of God through (Spiritual Love) is the sweetest and best of human endeavors. The human heart pining for the love of the Divine is the real sublimation. Swamiji’s Kriya yoga is the most valuable contribution of Indian Civilization to the Common Stock of Knowledge and Science of Humanity in its historic evolution.