Sri Shankaracharya was the 8th century Indian philosopher/theologian who consolidated the doctrine of Advaita Vedanta. He also organized the Daśanāmi Saṃpradāya (the order of Swamis) of which the Integral Yoga lineage is a part. Swami Sarvapriyananda (spiritual director of the Vedanta Society of New York), presents the history and Vedantic philosophy of the non-dual nature of being in this video. While Samkhya is at the heart of Yoga philosophy, Swami Satchidananda taught the Yoga practices as a pathway to non-dual or unity consciousness.
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The Living Gita: The Complete Bhagavad Gita: a Commentary for Modern Readers by Sri Swami Satchidananda Get this and other ebooks by H. H. Sri Swami Satchidananda.