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This presentation discusses the four different kinds of yoga systems described in the Bhagavad-Gita. All the system are not the same; in fact, they are meant for people with different levels of advancement, and hence they are organized in a hierarchy. As one perfects one kind of practice, they can rise to the next form. Knowledge or Jnana-yoga is the most preliminary form of yoga while Bhakti-yoga or devotion is the most advanced.