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Shrimad Bhagavad Gita, an unsurpassable canonical scripture, provides the lessons of practical Vedanta. Whether one is desire-ridden, desireless, devotional, dispassionate, seeker, or a knower (Jnani), taking refuge with one’s intellectual vessel in the Ganga of ambrosiac Gita, one always returns contented, and never empty-handed. This book presents the intrinsic essence of the highest philosophical truths of Gita, intelligible to a layperson eager to understand its meaning and message. It corrects the erroneous views of some who have made Karma-Yoga (Nishkama-Karma) and the Yoga of Knowledge and Realization (Sankhya-Yoga) two separate subject matters of Gita by selectively ignoring words and verses that are not consistent with their views and misinterpreting words and verses suitable to their beliefs. Herein, Bhagavana Sri Krishna’s words are interpreted consistently with the previous and the next verse and chapter from the beginning to the end, following their real intent. The book establishes the oneness between Sankhya-Yoga and Karma-Yoga, or the oneness between Karma-Renunciation and Karma-Yoga. They are set forth as only one means and provide only one fruit. The proper conduct of either is possible only after reaching that state, where the doer of Karma does not stay a doer, his doership-ego with its root nescience is burnt in the fire of knowledge. Thereby the relationship of I-ness and mineness in the body, senses, mind, and intellect is removed, and he becomes fit to attain steadfast union with oneness in the pure Atma, the Brahman.