Yoga in Bhagawad Gita

The Bhagawad Gita is a part of the epic, Mahabharata, which is a story of princely clans running over many generations. And the eighteen chapters of the Bhagawad Gita are all named as different Yogas. These are the eighteen chapters of dialogue between Krishna and Arjun.

Only if we understand the setting of the Bhagawad Gita, would we know the meaning of Yoga. Why is Yoga needed in the first place? Krishna delivers eighteen…