A systematic method is presented whereby any compact Lie group of n‐real parameters is dealt with from an infinitesimal approach with the representative matrix method based on a group of inner automorphisms suggested in a previous paper. The group manifold, defined in terms of a metric of group parameters, is identified as a Riemannian one in which these parameters play a role of n curvilinear coordinates. Riemannian geometry is thus valid in the group manifold, and geometric quantities are explicitly calculated in terms of the symmetric or (0) connection by a straightforward application of the ordinary procedure of tensor analysis. A new and simpler method of computing the invariant volume element is presented within this framework. Furthermore, we discuss in detail the group of inner automorphisms for the calculation of the matrix element of finite rotations for any irreducible representation (abbreviated MEFRIR). It is found that our method works very well and yields right and left vector fields together with a set of 2n equations to be satisfied by the MEFRIR. The global properties of the group may, therefore, be obtained as a solution to these equations. Moreover, it provides not only the generalized Maurer‐Cartan equations, the Lie structure formulas, two parameter groups of point transformations and the adjoint group, but also two additional nonsymmetric (+) and (−) connections with zero curvature, which do not possess any preassigned metric but possess two absolute parallelisms. Thus, our results on differential geometry completely agree with Cartan and Schouten's. A link between differential geometry and representations is presented by the right and left vector fields which are explicitly calculable in terms of the n parameters and through which geometric quantities, e.g., the Riemann tensor, the Ricci tensor, and the scalar curvature, of any connection are explicitly displayed. A theorem relating both the vector fields to the metric tensors is also included. Finally, the l (rank of the group) invariant differential equations to be satisfied by the MEFRIR are cast in the covariant (or Lie derivative) forms in any connection. Examples of the invariant equations are given for SU(2), SO(3), and SU(3). The two invariant equations of the latter can be cast in terms of the eigenvalues of isospin and hypercharge upon carrying out charge and hypercharge quantizations; in this connection, a new nonrelativistic wave equation to be satisfied by SU(3) multiplets as a generalization of the Schrodinger equation of the symmetric top is also proposed.