By Vyāsa’s grace I have heard this supreme secret, the yoga, from the Lord of yoga, Kṛṣṇa, told directly by Himself.

Vyāsa-prasādāt — by grace of Vyāsa (composer of the mahābhārata, who gave Sañjaya divine vision).

Etat guhyam param — this supreme secret. Yogam — the complete yoga. Yogeśvarāt kṛṣṇāt — from the Lord of yoga, Kṛṣṇa.

Sākṣāt kathayataḥ svayam — spoken directly, Himself (sākṣāt = before the eyes, directly). Sañjaya’s privilege is unique.