This contemporary companion to the Bhagavad Gita addresses the heart of human yearning. It offers the possibility of transforming the battle of life into a path to Truth, a living process. Each chapter presents a road toward our inner, universal Self, bringing a deeper and wider perspective along the way. A psychological orientation invites the reader to move from abstract idea to individual insight. As the book proceeds, the relationship between the personal and the eternal gradually unfolds in an ever-expanding process of self-discovery. Quotes from the great teachers are included in the text to inspire, uplift and help us cross over the sea of illusion.