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A parallel frame along a curve consists of a basis of vector fields $E_a$ satisfying $D_t{E}_a=0$ for its covariant derivative along a curve. Transporting a basis at the initial point constructs the frame. If the connection preserves the metric, an initially orthonormal basis stays orthonormal. In this frame the Jacobi equation becomes a linear matrix ordinary differential equation.

For a metric connection on a vector bundle, the covariant derivative along a curve satisfies $(d/dt)⟨u,v⟩=⟨D_{t}u,v⟩+⟨u,D_{t}v⟩$. If both sections are parallel, the right side vanishes. Thus parallel transport preserves the fibre inner product, not merely vector lengths, and is a linear isometry between the endpoint fibres.

A vector field along a curve $\gamma :[a,b]\to M$ is a smooth section of the pullback tangent bundle ${\gamma }^{\ast }TM$: it assigns $V(t)\in T_{\gamma (t)}M$ smoothly. It need not be the restriction of one ambient vector field, since its values at different times with the same image point may differ.

Given a Koszul connection, use a local frame $e_j$ of $TM$ and write $V(t)={\sum }_j{v}^j(t)e_j(\gamma (t))$. Its covariant derivative along a curve isThe first term differentiates the time-dependent coefficients, and the second uses the connection on the local frame. Under a change of frame, differentiating the change matrix supplies exactly the extra term in the connection transformation, so the expression is independent of the frame. This definition also works when $\dot{\gamma }(t)=0$. In coordinate components it isA field is parallel when $D_{t}V=0$.

Thus a parallel field solves the linear system $\dot{v}=-A(t)v$, with smooth coefficient matrix $A(t)$. Given its value at one time, existence and uniqueness for a linear ordinary differential equation determine it on each coordinate segment. To obtain it on all of $[a,b]$, cover the compact parameter interval by finitely many frame neighborhoods and subdivide so that each closed subinterval lies in one such neighborhood. The coefficients are bounded on each subinterval, and the standard estimate $\Vert v(t)\Vert \le \Vert v(t_0)\Vert \exp (\int \Vert A(s)\Vert ds)$ prevents finite-time blowup. The solutions match uniquely at the subdivision points. This proves existence and uniqueness of the requested global parallel field.

Define parallel translation by ${\tau }_t(v)=V_v(t)$, where $V_v(a)=v$ and $D_t{V}_v=0$. Linearity of the equation and uniqueness make ${\tau }_t$ linear. Solving the same equation backwards gives its inverse; equivalently, a solution zero at time $t$ must be identically zero. Therefore

A metric connection for a Riemannian metric satisfies $\nabla g=0$, orPulling this identity along the curve givesFor parallel fields the right side vanishes, provingFor a piecewise smooth path compose the parallel transport maps on its smooth segments. On a closed path their domain and codomain are the same tangent space, so the resulting map is orthogonal. Its determinant need not be positive on a nonorientable surface.

An explicit reflection example is the reflection holonomy along a closed projective geodesic. Give ${\mathbb{RP}}^2$ the round metric induced from the sphere by the antipodal quotient. The Levi-Civita connection descends because the antipodal map is an isometry, so the quotient map is a local isometry carrying geodesics and parallel fields to their counterparts. The great-circle arcprojects to a smooth closed geodesic: $c(t+\pi )=-c(t)$, including all derivatives under the quotient identification. Along it the fieldsare parallel. The first is the velocity of a great-circle geodesic. The second is tangent, unit length, and orthogonal to the first. Metric compatibility makes its covariant derivative orthogonal to both frame vectors: differentiate its constant length and its zero inner product with the parallel first vector. Its derivative therefore vanishes in the two-dimensional tangent plane. At $t=\pi$, $E_1(\pi )=-E_1(0)$ and $E_2(\pi )=E_2(0)$. Identifying the endpoint with the start through the derivative of the antipodal map, namely $-I$, fixes the returned $E_1$ and negates the returned $E_2$. HenceThis is a reflection fixing the geodesic direction.

Finally orient the unit sphere outward and traverse a spherical triangle with its interior on the left. Let its angles be $\alpha ,\beta ,\gamma$. Its parallel transport preserves both the metric and orientation, so is a rotation by some angle $\delta$ in the initial tangent plane. On each geodesic side the unit tangent is parallel. At a vertex with angle $\alpha$, the actual forward tangent turns left by $\pi -\alpha$ relative to the transported incoming tangent. Tracking the tangent around all three sides and making those three corner turns returns it to its initial direction.

Rotations of oriented two-dimensional tangent planes commute with orientation-preserving parallel transport. Consequently the total angle in this tracking procedure is the transport angle plus the three corner turns:This determines parallel transport around a spherical triangle asBy the spherical excess formula, this is rotation by the enclosed area on the unit sphere. Reversing traversal negates the angle. For an octant triangle all three angles are $\pi /2$, giving a positive $\pi /2$ rotation.

A vector field along a map $\gamma$ assigns $V(t)\in T_{\gamma (t)}M$ smoothly to each parameter value. Equivalently, it is a section of a vector bundle ${\gamma }^{\ast }TM$. The pullback connection defines its covariant derivative along a curve, $D_{t}V$. To make the definition explicit, use connection coefficients with the conventionFor $V=V^k(t){\partial }_k{|}_{\gamma (t)}$ the derivative isThe change of frame of a vector-bundle connection ensures this expression is independent of the coordinate chart. It remains meaningful when $\dot{\gamma }=0$ and does not require extending $V$ to one ambient vector field.

The field is parallel exactly when $\boxed{D_{t}V=0}$. A geodesic for $\nabla$, with its specified affine parameter, is a smooth curve whose own tangent is parallel:This definition applies to any affine connection, whether or not it is a metric connection. A non-affine change of parameter generally gives a pregeodesic instead of this parametrized geodesic.

Let $E\to M$ have rank $r$. A vector bundle covariant derivative is a real-linear operatorPairing its one-form slot with a vector field $X$ gives ${\nabla }_{X}s$, with ${\nabla }_{fX}s=f{\nabla }_{X}s$ and ${\nabla }_X(fs)=X(f)s+f{\nabla }_{X}s$.

In the horizontal description, a connection on a vector bundle $A$ is a smooth splitting $T_{a}E=V_{a}E\oplus H_{a}E$, where $V_{a}E=\ker (d\pi {)}_a$, and the horizontal choice is compatible with fibre addition and scalar multiplication. This linearity is essential; an arbitrary nonlinear horizontal splitting is not a vector-bundle connection. Identify a vertical vector at $a\in E_x$ with the element of $E_x$ obtained by differentiating the curve $a+tv$. Let $K_A:T_{a}E\to E_x$ be vertical projection followed by this identification. The induced vector bundle covariant derivative isIn a local frame of a vector bundle $e=(e_1,\dots ,e_r)$, a linear horizontal splitting has the formfor a matrix-valued connection one-form $\Gamma$. Thus for $s=ev$, ${\nabla }^{A}s=e(dv+\Gamma v)$, which directly verifies the Leibniz rule.

Conversely, the Leibniz rule makes $\nabla$ local: if a section vanishes near a point, multiply it by a smooth cutoff function supported in that neighborhood and equal to one near the point to see that its derivative vanishes there too. Local sections can therefore be differentiated by any extension agreeing near the point. Given $\nabla$, define its local connection one-form by $\nabla e_b={\sum }_a{e}_a{\Gamma }_b^a$. The Leibniz rule gives $\nabla (ev)=e(dv+\Gamma v)$. Under $e^{\prime }=eg$, $v^{\prime }=g^{-1}v$, one hasThe tangent fibre coordinate transforms by $w^{\prime }=g^{-1}w-g^{-1}(dg)(\xi )g^{-1}v$, so $w=-\Gamma (\xi )v$ transforms precisely to $w^{\prime }=-{\Gamma }^{\prime }(\xi )v^{\prime }$. Consequently these local horizontal subspaces of a vector bundle connection glue to a smooth linear splitting inducing the given $\nabla$. Its local formula also shows uniqueness. This proves the horizontal connection associated to a covariant derivative construction.

A horizontal lift $\tilde{\gamma }$ of $\gamma$ is a smooth curve in $E$ with $\pi \circ \tilde{\gamma }=\gamma$ and $\dot{\tilde{\gamma }}(t)\in H_{\tilde{\gamma }(t)}E$. In a local frame write $\tilde{\gamma }(t)=e(\gamma (t))v(t)$. Horizontality is exactly the linear ordinary differential equationWe use existence and uniqueness for an ODE with smooth coefficients, and the continuation theorem that a solution extends across a finite interval when it remains bounded inside the coordinate domain. For a linear system $\dot{v}=-C(t)v$ with continuous coefficients bounded by $L$ on a compact time interval, the Gronwall inequality bounds $|v(t)|$ by its initial norm times $e^{L|t-t_0|}$, preventing finite-time fibre escape. Cover a compact subinterval of $I$ by finitely many bundle charts and partition it so each piece lies in one chart. Solve successively, changing fibre frames at the partition points. Coordinate invariance of the horizontal equation and uniqueness make the pieces agree. Exhausting $I$ by compact intervals containing $0$ produces a unique horizontal lift on all of $I$ for every prescribed $a_0$. This is global continuation of linear parallel transport.

The lift equation is linear in its initial value. Hence the endpoint map $P_{\gamma }:E_{\gamma (0)}\to E_{\gamma (1)}$ is linear. Solving the same equation backwards, or transporting along $t\mapsto \gamma (1-t)$, gives its inverse, soThis is parallel transport. For two parallel lifts $s_1(t),s_2(t)$, the assumed metric connection identity extends along the embedded curve and becomesHere $D_t$ is the covariant derivative along a curve. The permitted extension of sections and the tangent vector along the embedded curve justifies applying the bundle identity; equivalently it follows in each local frame. Thereforeso parallel transport is an isometry. This is the principle that parallel transport preserves a fibre metric.

A smooth vector field along a map $\gamma :[a,b]\to M$ is a smooth section of the pullback tangent bundle ${\gamma }^{\ast }TM$: it assigns $V(t)\in T_{\gamma (t)}M$, with smooth coefficients in each local frame. It need not be the restriction of one ambient vector field, since a curve may return to the same point with different values of $V$.

An affine connection, also called a Koszul connection, induces a pullback connection on this bundle. In coordinates, write $V=V^i(t){\partial }_i$ and ${\nabla }_{{\partial }_j}{\partial }_k={\Gamma }^i{}_{jk}{\partial }_i$. Its covariant derivative along a curve isThe connection transformation law, or the Leibniz rule applied to a change of frame, makes this expression independent of the frame. In particular it is defined even when $\dot{\gamma }=0$; it differentiates the section's coefficients as well as the frame.

The field is parallel precisely when $D_{t}V=0$. In a frame along a coordinate segment this is the linear ordinary differential equationThe Picard-Lindelöf theorem gives a unique solution with prescribed initial value. Smooth coefficients on compact subintervals are bounded, and the usual norm estimate for a linear ordinary differential equation prevents finite-time blowup there. A finite sequence of coordinate segments covers the image of the compact interval $[a,b]$; solve successively and use uniqueness on overlaps. This gives a unique parallel field on the whole interval for every $V_a\in T_{\gamma (a)}M$.

Define parallel transport by ${\tau }_t(V_a)=V(t)$. Linearity of the equation and uniqueness give ${\tau }_t(c{V}_a+d{W}_a)=c{\tau }_t(V_a)+d{\tau }_t(W_a)$. Solving along the reversed curve supplies its inverse. Therefore each ${\tau }_t:T_{\gamma (a)}M\to T_{\gamma (t)}M$ is a linear isomorphism.

For two affine connections, put $\Delta (X,Y)={\nabla }_{X}Y-{\tilde{\nabla }}_{X}Y$. Their rules givesince the two $X(f)Y$ terms cancel. The tensoriality of this operation proves that the difference of affine connections is a tensor, of type $(1,2)$, with smooth coordinate coefficients ${\Gamma }^i{}_{jk}-{\tilde{\Gamma }}^i{}_{jk}$.

A parametrized geodesic satisfies $D_t\dot{\gamma }=0$, or the geodesic equationWith $v^i={\dot{\gamma }}^i$, this becomes the first-order system ${\dot{\gamma }}^i=v^i$, ${\dot{v}}^i=-{\Gamma }^i{}_{jk}(\gamma )v^j{v}^k$. Its right side is smooth, so the Picard-Lindelöf theorem gives a unique local solution for each initial point and tangent vector. This establishes uniqueness with the parametrization fixed.

The two accelerations differ byIf $\Delta (v,v)=0$ for every tangent vector, either acceleration vanishes exactly when the other does. Conversely, start the $\nabla$-geodesic with arbitrary initial vector $v$ at an arbitrary point. If it is also a $\tilde{\nabla }$-geodesic with the same parameter, evaluating this identity initially gives $\Delta (v,v)=0$. HencePolarization makes the latter condition equivalent to $\Delta (u,v)+\Delta (v,u)=0$: parametrized geodesics determine the symmetric part of an affine connection. In particular torsion-free connections are determined by their parametrized geodesics, since their difference is also symmetric and must then vanish.

Use the Riemann curvature tensor convention $R(X,Y)Z={\nabla }_X{\nabla }_{Y}Z-{\nabla }_Y{\nabla }_{X}Z-{\nabla }_{[X,Y]}Z$. A Jacobi field is a smooth vector field $J$ along $\gamma$ satisfyingwhere $D_t$ is the covariant derivative along a curve for the Levi-Civita connection. Differentiating a geodesic variation gives this equation, and conversely every Jacobi field arises from a geodesic variation by varying its initial point and velocity.

Choose a parallel frame $E_1(t),\dots ,E_n(t)$ along $\gamma$ and write $J={\sum }_a{y}_a{E}_a$. The Jacobi equation becomes the linear systemThe existence and uniqueness theorem for linear ordinary differential equations says that each pair $(y(0),y^{\prime }(0))\in {\mathbb{R}}^n\oplus {\mathbb{R}}^n$ determines exactly one solution on $[0,1]$. Addition and scalar multiplication preserve the equation. Thus evaluation of initial position and covariant velocity is a linear isomorphismand the dimension is

For the convexity assertion, use the convex-normal meaning of a geodesically convex open set: its points are joined by a unique geodesic within the set, and the joining geodesic depends smoothly on its endpoints. Equivalently, the appropriate star-shaped restriction of ${\exp }_p$ is a diffeomorphism onto the set. The convex-normal-neighbourhood theorem supplies such sets around every point. Mere existence of some minimizing geodesic, without this uniqueness and normality, would not imply the assertion.

Let $p=\gamma (0)$ and $v=\dot{\gamma }(0)$. For a Jacobi field with $J(0)=0$ and $D_{t}J(0)=w$, differentiating ${\exp }_p(t(v+sw))$ gives the standard differential-of-the-exponential map identityIn a convex normal neighbourhood, $(d{\exp }_p{)}_v$ is invertible. Therefore a Jacobi field vanishing at both endpoints has $w=0$ and hence is identically zero. The difference of two fields with the same endpoint values consequently vanishes. More precisely, the mapis an isomorphism: it is injective and both spaces have dimension $2n$. The constant-geodesic case follows directly from $D_t^{2}J=0$. This uses the convex-normal-neighbourhood theorem, the differential-of-the-exponential map identity, and linear ordinary differential equation uniqueness.

For the special unitary group example, use Jacobi fields from conjugation at a central endpoint. WriteThe endpoints of $\gamma (t)=\exp (tA)$ are $I$ and $zI$. The latter is central. For every $X\in \mathfrak{su}(3)$ considerConjugation is an isometry for a bi-invariant Riemannian metric, and geodesics of a bi-invariant metric are one-parameter subgroups. Thus $F_X$ is a geodesic variation. Its Jacobi field iswhich vanishes at $t=0$ and $t=1$ because both endpoints are central. Its initial covariant derivative is $[X,A]$.

The linear map $X\mapsto J_X$ has kernel equal to the centralizer of an element of a Lie algebra of $A$. Indeed, $J_X\equiv 0$ implies $[X,A]=0$ on differentiating at $t=0$, and that commutation conversely implies $J_X\equiv 0$. The repeated first two eigenvalues giveAs ${\dim }_{\mathbb{R}}\mathfrak{su}(3)=8$, rank-nullity theorem givesExplicit independent generators are the fields belonging to $E_{13}-E_{31}$, $i(E_{13}+E_{31})$, $E_{23}-E_{32}$ and $i(E_{23}+E_{32})$. Their initial derivatives $[X,A]$ are independent because the eigenvalue differences in the $13$ and $23$ entries are $2\pi i$. This also demonstrates directly why the endpoint-value conclusion fails along this geodesic.

Expand $X^a=x^a+\theta {\psi }^a$, $D{X}^a={\psi }^a-i\theta {\dot{x}}^a$, and $g_{ab}(X)=g_{ab}(x)+\theta {\psi }^c{\partial }_c{g}_{ab}$. Performing the Berezin integral givesAfter a fermionic integration by parts, this is the manifestly covariant expressionUnder a diffeomorphism, $x$ is a point of $M$, $\psi \in T_{x}M$ is a tangent vector, $D_t\psi$ is its covariant derivative along a curve, and every index is contracted with the Riemannian metric; the action is therefore invariant.

A vector field along a curve $\gamma :I\to M$ is a smooth section of a vector bundle with $V(t)\in T_{\gamma (t)}M$. Its values may differ at distinct times mapping to the same base point. The covariant derivative along a curve differentiates its time-dependent coefficients using the pulled-back connection on a vector bundle; it does not require extending it to one ambient vector field.