Chapter 2 — The Yoga of Understanding: Theoretical understanding and direct experience comprise the complete knowledge necessary to successfully practice Karma Yoga. Where understanding motivates the practice and fuels momentum, experience provides proof of concept, applies understanding to daily life and integrates the two into familiarity. From verse 39 forward, this 2nd chapter expounds on the theoretical understanding necessary to practicing Karma Yoga addressed in the 3rd chapter. Central to achieving understanding is verse 45