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BG Chap 18 - Arjuna understood Kṛṣṇa's teachings

Arjuna said that he understood the Bhagavad Gītā by stating the results. His ignorance had disappeared, his memory restored, and he understood correctly the nature of things. All living beings such as devas and men have the conception of being their bodies, and being independent in their actions. Arjuna previously had the illusion that prakṛti is the cause of the world, and he also thought the Lord was without qualities and form, and was indifferent to men’s affairs. That illusion was now destroyed by Kṛṣṇa’s teachings. Arjuna also now had true knowledge of the Lord, who possesses a form of knowledge and bliss; who is an ocean of good qualities; who is the friend of His devotees; who creates the variegated bodies in the universe according to the karmas of the souls just by His will, thru His energies of jīva, time and prakṛti. Thus Arjuna surrendered to Kṛṣṇa ready to follow His instructions, and rose with his Gāṇḍīva bow ready to fight.