The whole message of the Gita is remove your “Shoka,” your sorrow, and the message is that the sorrow is eliminated if you remove the cause of the sorrow. What is the cause of the sorrow? – The cause of your sorrow is delusion and therefore the essence of the Gita is eliminate your sorrow by removing the cause which is delusion. When delusion is eliminated sorrow is eliminated.
The verses of the Gita are not only concepts – they are great words but unless you convert them into your experience, it is not going to help.
One of the biggest symbols of the Gita is of a person, who is in deep sleep, and the trumpets are blowing and the drums are beating and still this man is snoring. And there is a divine ladder from the earth to heaven that can be climbed, so trumpets and drums are playing loudly to wake up the sleeper but he is sleeping. The teaching of this symbol is that we are all asleep, and the Gita is like a divine ladder, which tells you climb from worldly living to divine living.
Swami SukhabodhanandaSource – Book – Personal Excellence Through The Bhagavad Gita By Swami Sukhabodhananda