Bhagavad Gita is perfect fusion of four yogas – karma yoga, jnana yoga, raja yoga and bhakti yoga. Self realization or God realization is the essence of Bhagavad Gita. Although goal is one, there are many ways to reach it based on your temperaments and circumstances. When you use your emotions and try to reach the ultimate, we call this bhakti yoga. This is the path of love and devotion. The raja yogi controls his mind until it becomes perfectly still. Raja yoga works with internal actions. Karma yoga is mostly about external actions. Karma yoga is path of selfless service. “Work hard and enjoy your work but do not get attached to the fruits of your action” is the essence of karma yoga. Jnana yoga is the path of wisdom and knowledge. They use their will and power of discrimination to transcend the veil of ignorance and attain the truth. You need a combination of these four yogas to reach the ultimate.