Vivekananda asks all the great teachers in Calcutta if they have seen God. Sri Ramakrishna says he has and so can you, but Arjuna is terrified out of his wits. Vivekananda gives him extraordinary poetry to explain what it means to 'directly experience' God as a body of water rather than chairs or tables.
Swami Sarvapriyananda teaches Chapter 10 Verses 12-15 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).