Summary
Thus in the second chapter, the Lord wanted to remove the delusion of Arjuna, who did not know the real nature of the ātman and also did not realise that the enterprise called 'war' [here an ordained duty] is a means for actualising Sankhya or realisation of the Self. Arjuna was under the delusion that the body is the individual Self, and dominated by this delusion, had retreated from battle. He was therefore taught (a) the knowledge called 'Sankhya' — the understanding of the real nature of the Self, and (b) 'Yoga' — the path of action done without attachment to or motivation for rewards. These two together are directed to the attainment of steady wisdom (Sthita-prajña)
This has been clarified in the following verse by Sri Yamunacharya: — "Saṅkhya and Yoga, which comprehend within their scope the understanding of the nature of the eternal Self and the practical way of disinterested action respectively, were imparted in order to remove Arjuna's delusion. Through them the state of steady wisdom can be reached."
hariḥ oṁ tatsat iti śrīmad-bhagavad-gītāsupaniṣatsu brahma-vidyāyāṁ yoga śāstre śrī-kṛṣṇārjuna saṁvāde saṅkhya yogo nāma dvitīyo’dhyāyaḥ
Thus in the Upanishad of the Glorious Bhagavad Gita The science of the Eternal, the Scripture of Yoga The dialogue between Sri Krishna and Arjuna Ends the second discourse entitled — "The Yoga of Knowledge (Sankhya)
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