Madhusudana Saraswati was a great Advaita philosopher of the 16th century in the tradition of Sankaracharya. His commentary on the Bhagavad Gita is considered one of his major works. Harmonizing jnana, bhakti, and yoga with clarity, depth, and originality, it demonstrates his mastery of the different schools of Indian philosophy and religion, as well as his deep spiritual insight. Devanagari text, transliteration, English translation, and notes by Swami Gambhirananda.