Let V be a vector space (typically V=Tp∗M). Given linearly independent elements v1,…,vp∈V and provided that w1,…,wp are such that
in ΛV then there exist scalars hij=hji such that
Moreover, hij=hji.
Proof. See @spivak1999comprehensive vol 3 page 18. ◼
Related: Do not confuse with Cartan formula.