The story of Yaakov and Eisav's reunion is meant to guide us through our own confrontations with the Eisav's in our life. Rashi changes the order of the pesukim and tells us that Yaakov sent gifts, davened and prepared for war resulting in a genuine hug but a less than genuine kiss. In this shiur Rav Burg explains how we can treat ourselves with kindness and compassion, align ourselves with Hashem and always know that we are never defeated as we battle our inner Eisav. Even if we are not yet completely victorious we are on the way.