The Bhagavad Gita is an ancient text that has given moral lessons and wisdom to generations. Teaching robots have been introduced to help people learn. Nonetheless, there are no social robots yet that could teach people about the morals in the Gita. This research tackles the meaning of teaching concepts of morality from old books using robotic technology. Seventy-five participants (aged 18–40) were divided into three groups: interacting with a social robot Picoh, traditional reading, and a control group. The study focused on Bhagavad Gita Chapter 1, which considers duty, righteousness and its nature as revealed by the soul. Both groups had high quiz response rates (>90%) relative to the control group (<30%). HRV analysis showed increased RMSSD for readers, while those who interacted with Picoh reported positive engagement and usability. These findings indicate that such social robots as Picoh are effective in increasing moral learning through user involvement, giving rise to new ways of studying philosophy. We highlight the implications of developing social robots for teaching good morals.