In the Bhagavad Gita, there is no long discussion, nothing elaborate. The main reason for this is that everything stated in the Gita is meant to be tested in the life of every man; it is intended to be verified in practice.
Vinoba BhaveIf we wish our nature to be free and joyous, we should bring our activities into same order.
Vinoba BhaveIt is only when our life proceeds within bounds and in an accepted, disciplined way, that the mind can be free.
Vinoba Bhave