Based on the excerpts from Chapter 16, what is the primary purpose for the 'King of Yogis' taking a physical body, and how does he teach?

The text of Chapter 16 explicitly states that the 'King of Yogis,' who is stainless, imperishable, and beyond attributes, has taken a physical body for a selfless reason: "for the sake of helping others, to uplift the poor and lowly." His method of teaching is also described in a unique way. To instruct the ignorant, He sometimes dons a "cloak of ignorance" himself. This approach allows him to impart knowledge and give sweet instruction without transgressing the normal boundaries of conduct, making his wisdom accessible and gentle for those he aims to uplift, as narrated in Chapter 16.