There are few advanced spiritual seekers, who have made plenty of progress in this life and for some reason have not attained enlightenment. They will be born in a family of yogis then father and mother will be highly spiritual. Of course, it's not essential that if your parents are spiritual, youare going to be spiritual. An enormous impact is made by how we are dealt with, what kind of environment we grow up in.
Swami Sarvapriyananda teaches Chapter 6 (Verses 36-42) 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).