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This may be Orlando's best kept secret. The Chinmaya Mission Orlando offers Bhagwad Geeta [another way of spelling the Bhagavad Gita] and Upanishad classes every Sunday morning. There are various classes throughout the morning and a lunch around noon. http://www.chinmayaorlando.org/
Make your mind one-pointed in meditation, and your heart will be purified. . . . With all fears dissolved in the peace of the Self and all desires dedicated to Brahman, controlling the mind and fixing it on me (God), sit in meditation with me as your only goal. With senses and mind constantly controlled through meditation, united with the Self within, an aspirant attains nirvana, the state of abiding joy and peace in me.
The Bhagavad Gita: 6:12-15
Some realize the Self within them through the practice of meditation, some by the path of wisdom, and others by selfless service. Others may not know these paths; but hearing and following the instructions of an illumined teacher, they too go beyond death.
Whatever you do, make it an offering to me - the food you eat, the sacrifices you make, the help you give, even your suffering. In this way you will be freed from the bondage of karma, and from its results both pleasant and painful. Then, firm in renunciation and yoga, with your heart free, you will come to me.
The Bhagavad-Gita: 9:27-28