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Chapter 18: Conclusion -- The Perfection of Renunciation
Verse: 67 idam te natapaskaya
nabhaktaya kadacana
na casusrushave vacyam
na ca mam yo 'bhyasuyati
Translation: This confidential knowledge may never be explained to those who are not austere, or devoted, or engaged in devotional service, nor to one who is envious of Me.
Explanation: Vedic teachings are meant for two purposes. One to purify the listeners and second so all for their propogation through the media of the qualified listeners. Just as the Srimad Bhagavatam was first spoke by Narada Muni (as catur-sloki), then expanded by Sukadeva Goswami, then repeated by Suta Goswami and since then repeated countless times. As part of Vedic teaching is also an instructions of how to propagate them. In line with this custom, Krishna, having concluded the teachings of the Bhagavad-gita now instructs on the qualification of the recipients of this divine knowledge.
The knowledge should not be given to one who does not have sense-control. Even if he has sense control, it should not be given to one who does not have faith in Krishna and lacks devotion. And even if he has sense control, has faith, it should not be taught to one who does not have the desire to hear about it. Even if he is qualified with three good qualities just mentioned (sense control, devotion and obedience), he should not be taught if he is envious of Krishna; if he thinks that Krishna a combination of material qualities or simply a great historic personality. Explicit stress is placed on this attribute of enviousness to indicate that more so than all other attributes, this dis-qualifies one from being taught the Bhagavad-gita.
Turning this around, we can understand that the qualified recipient of the Bhagavad-gita is one who controls his senses, has faith and devotion in Krishna, is eager to hear about it and is not envious of the Supreme Personality of Godhead.
Srila Prabhupada adds to this, "Without understanding Krishna from the authority of a pure devotee, one should not try to comment upon Bhagavad-gita."