Jñāneśvarī (commentary on the Bhagavadgītā) 4.27

4.27

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sa evāyaṃ mayā te 'dya yogaḥ proktaḥ purātanaḥ
bhakto 'si me sakhā ceti rahasyaṃ hy etad uttamam
toci hā āji ātāṃ |
tujapratī kuṃtīsutā |
sāṃgitalā āmhīṃ tattvatā |
bhrāṃti na karīṃ ||

That very same [yoga] today, / to you, O son of Kuntī, / I have explained in its true essence; / do not harbor doubt.