This document summarizes Dr. Shriniwas Kashalikar's new study of the Bhagavad Gita. It discusses how concepts like sanyasa (renunciation), karma (action), and tyaga (sacrifice) that seem contradictory are actually complementary. While chapter 2 provides clarity on dharma, further explanation is given in chapters 3 and 18 because these concepts can be confusing in practice. As one continues studying and contemplating the Gita while practicing namasmaran (remembering the name), the understanding of how sanyasa, karma, and tyaga reconcile different viewpoints becomes clearer.