Acharya Prashant explains that Shri Krishna equates renunciation with Yoga in the Bhagavad Gita. He clarifies that while renunciation is commonly understood as 'leaving' and Yoga as 'joining,' true renunciation is actually Yoga. One cannot be a Yogi without abandoning personal resolutions or desires. The speaker emphasizes that leaving something is not as significant as joining with something higher. He argues that our suffering is proof of a hidden, prior knowledge of truth and bliss; we only feel the pain of a lie because we inherently know the truth. Therefore, the focus should not be on the act of leaving, but on attaining the higher reality.