“How does Vedānta differ from Yoga?
In brief, we can say that the purpose of Yoga is to change the state of mind, so that it is less muddy.
In this effort, God may help.
The purpose of Vedānta is to become God…..
At an ideological level, Vedānta rejects Yoga’s idea of God as something potentially helpful, beside that point it likewise rejects whatever is said in Yoga that does not take one toward God.
However, the Vedānta Sūtra does emphasise the importance of sitting properly for meditation and the Bhagavad Gītā speaks of the need for proper breathing.
All the Śāstra, in fact, accept the physical discipline of Yoga.”
– TKV Desikachar Chennai 1981

“In the Indian tradition, a śāstra is always studied under a teacher. It is the teacher who gives the text life and meaning by presenting it in a manner that the student can relate to and apply in his life.
The Bhagavad Gītā offers help to those in trouble. How its teachings can be related to our lives and taken advantage of, is explained by TKV Desikachar in his introduction and answers to his students.”
– Originally published by the KYM Darśanam May 1995

“How is it that we fail to to act right, see right, communicate right,
even though we have all the resources?
What are the indications of this failure?
What indicates that all is well?
Arjuna of the Indian epic Mahābhārata represents the model of
what clouds our consciousness and what can break this cloud.”
– TKV Desikachar introduction to the Bhagavad Gītā

“Dharma is that which supports you,
Dharma is that which stops you from falling,
Dharma is that which picks you up after you have fallen.”
– TKV Desikachar introduction to the Bhagavad Gītā

“The Bhagavad Gītā is about confusion OF Dharma and
the Yoga Sūtra is about confusion AND Dharma.”
– TKV Desikachar introduction to the Bhagavad Gītā

“The first six chapters of the Gītā
deal with Karma and Jñāna that
reveal the true nature of oneself.”
– TKV Desikachar on Gītārtha Saṃgraha of Śrī Yāmunācārya Śloka Two