Robert asks if you are happy. I shout out from the peanut gallery, "No." Henry laughs and Robert says, "That is an honest answer."
He says people are unhappy because they do not know truly who they are. If they did, they would be totally happy.
He also says it is only the mind that keeps you unhappy because it keeps you from the now, and that Now is liberation and happiness.
I agree with the first half of his teaching, but not the second, which is typical neo-advaita.
But then he says the external world is in you. You are it. There is nothing you need from the outside because it is all you.
With this I agree too. Look within deeply and find the Self.
Then he talks about the function of the Guru, bringing you to yourself.