This Chapter is called “Meditation Discipline”. In Sanskrit it is called “Dhyan Yog”.
Shreekrishn continued to explain that disciplined action without desire for fruit was called Yog and renunciation of society and worldly pleasures was called Sannyas.
God also described how to -- meditate, balance the daily routine and control the mind. At the end of chapter Arjun’s doubt about future of individual who had faith and devotion but who at times, faltered in discipline was clarified. The God said that such person, who has faith and devotion, ultimately by taking rebirths in good family reaches the ultimate destination.