This is the knowledge concerning the self that has been taught by Me in the verses beginning with ‘Know that to be indestructible’ .(2.17) and ending with ‘this has been given to you’ (2.39). So engaged in appropriate actions, you can learn, according to the maturity of your competence, this wisdom from the wise, who will explain it to you, if you attend on them through prostrating and questioning and by serving them. The wise are those who have immediate apprehension (or vision) of the true nature of the self. Having been honoured by you through prostration etc., and observing your mental disposition characterised by desire for knowledge which you have evinced by your questions, they will teach you this knowledge.

Shri Krishna now speaks of the characteristics of knowledge concerning the nature of the self, in the form of direct perception.