In the Mahabharata epic, Sanjaya was granted divine vision by the sage Vyasa, allowing him to see and narrate the events of the Kurukshetra war to the blind King Dhritarashtra in real-time. This narration, known as 'Sanjaya's narration' or 'Bhagavad Gita,' forms a crucial part of the epic. Vidura was Dhritarashtra's wise half-brother, Parikshit was Arjuna's grandson, and Ved Vyasa was the sage who composed the Mahabharata.