The language of the Gita sometimes admits two apparently opposite truths and turns to reconcile them. It admits the ideal of departure from Samsara into the Brahman as one possibility; also it offers the possibility of living free in the Divine (in me, it says) and acting in the world as the Jivan Mukta. It is the latter kind of solution on which it lays the greatest emphasis.
More details here extracts Explanation of the Gita (pdf)
ISBN : 978-2-940393-75-6, size 148 x 210 mm, 194 pages