Lord Krishna imparted this knowledge to Arjuna in the battlefield of Kurukshetra, when the latter was in a distressful condition. Upon receiving this knowledge returned to his happy and stable position. All of us undergo difficult situations in life, and often become overwhelmed by those situations not knowing where to find a solution. Bhagavad-gita guides us out of such delusions and reestablishes us in our origin position of eternity, knowledge and bliss. If we follow the instructions as given by Lord Krishna, then we can attain the same blissful state as Arjuna did.