Origin of Bhagavad Gita can be dated back to the early fifth century. The philosophy, pantheism, fundamental doctrines of transmigration and its literary style have been mainly derived from the Upanishads. However Bhagavad Gita appeared later than the movement represented by early Upanishads. It is even earlier than the period of the expansion of the philosophic systems as well as their formulation. The date and authorship of the Gita are unknown. Scholars of earlier generation opined that it was compiled between 5th and 2nd century.
The Bhagavad Gita was later incorporated into the Hindu epic Mahabharata which offered a new path towards liberation independent of social status.
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