The Upanishad is embedded in a text called Mandukhi Karika, written by Godapada. Many of the terms which we used here are actually, many of them are not in the Upanishad itself. They have been introduced to help us to understand these concepts. Before you get enlightened, you have to listen to some poetry.
Swami Sarvapriyananda teaches one of the shortest and most profound upanishads accompanied by Gaudapada's Karika. This lecture covers Karika 1-5.