Based on Chapter 16, why has the Guru taken a physical body, and how does he impart knowledge to the ignorant?

The text in Chapter 16 states that the Guru, hailed as the King of Yogis, has taken a physical body for a specific purpose: to help others and to uplift the poor and lowly. When it comes to teaching, he employs a unique method. He imparts knowledge to the ignorant by metaphorically 'donning the cloak of ignorance' himself. This approach allows him to give sweet instruction and guidance without transgressing the established boundaries of proper conduct, making his wisdom accessible to those he aims to uplift.