There are various kinds of yoga; such as karma-yoga, based on purifying our activities; Jnana-yoga, based on acquiring spiritual knowledge and insight; Raja-yoga, the mystical yoga system; and Bhakti-yoga, attaining union with God through love and devotion. From these yoga systems, additional systems have also developed. But these four basic forms of yoga are all discussed in the primary and essential Vedic text of the Bhagavad-gita. But out of all of them, Lord Krishna specifically directs u