Why does the 'King of Yogis' take on a physical form, according to the beginning of Chapter 16?

Chapter 16 provides a clear reason for the Guru's incarnation. After glorifying him as the "Stainless," "Imperishable," and "King of Yogis," the text explicitly states, "You have taken this body for the sake of helping others, to uplift the poor and lowly." This highlights a compassionate motive for his physical presence. The chapter further explains his method of teaching: "Donning the cloak of ignorance, He imparts knowledge to the ignorant." This suggests that he takes on a relatable human form and seemingly participates in worldly life in order to provide sweet instruction and guide devotees without transgressing the boundaries of proper conduct, all for the purpose of their spiritual upliftment.