In the Bhagavad Gita, there is no long discussion, nothing elaborate. The main reason for this is that everything stated in the Gita is meant to be tested in the life of every man; it is intended to be verified in practice.
If we could only snap the fetters of the body that bind the feet of the soul, we shall experience a great joy. Then we shall not be miserable because of the body's sufferings. We shall become free.
We have seen from experience that, if we are in the habit of walking regularly on the same road, we are able to think about other things while walking, without paying attention to our steps.
Human life is full of the play of samskaras - tendencies developed by repeated actions.
Pliny the Elder