How can one free himself from material bondage?
The 39th verse of chapter 2 of Bhagavad Gita for happiness elaborates on the different kinds of philosophers and how now can free themselves from the material bondage. Krishna tells Arjuna that there are different kinds of yogas and the idea is to control the senses through the same. Right now, it is the prime duty of Arjuna to get over material bondage.