There are many commentaries on the Gītā. In fact, all great ācāryas (spiritual teachers) in India such as Śaṅkara, Rāmānuja, Madhva, Vallabha, Baladeva Vidyābhūṣaṇa, Viśvanātha Cakravartī, Bhaktivinoda Ṭhākura, A.C. Bhaktivedanta Swami Prabhupāda and others have written commentaries. Swami Narasiṅgha has also written a concise and insightful commentary on Bhagavad-gītā to make the essence of Gītā accessible to the modern reader.