You can derive the same benefit as Arjuna by reading Bhagavad-gita. People say that Arjuna was enlightened because Krsna was present before Him. But Krsna is present before you also, by His words, by His sound representation. Just like Hare Krsna mantra, Krsna's name, it is not different from Krsna.
Lecture on Srimad-Bhagavatam 1.15.27, Los Angeles, December 5, 1973