Vedanta's sixth chapter is on meditation. The purpose of meditation is spiritual, he says. It does relax one person but not in a way that leads to moksha or liberation. All these techniques of meditation are true and they do give all these benefits. There's no doubt about it. But that's not the purpose of meditation.
Swami Sarvapriyananda teaches the Chapter 6 (Verse 1) of the Bhagavad Gita. In this series of talks, Swami Sarvapriyananda unfolds the highest truths of Vedanta through the study of the Bhagavad Gita (The Song of God).