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Using the entire BaBar $\Upsilon(4S)$ data set, the first two-dimensionalunbinned angular analysis of the semileptonic decay $\overline{B} \rightarrow D\ell^- \overline{\nu}_\ell$ is performed, employing hadronic reconstruction ofthe tag-side $B$ meson from $\Upsilon(4S)\to B\overline{B}$. Here, $\ell$denotes the light charged leptons $e$ and $\mu$. A novel data-drivensignal-background separation procedure with minimal dependence on simulation isdeveloped. This procedure preserves all multi-dimensional correlations presentin the data. The expected $\sin^2\theta_\ell$ dependence of the differentialdecay rate in the Standard Model is demonstrated, where $\theta_\ell$ is thelepton helicity angle. Including input from the latest lattice QCD calculationsand previously available experimental data, the underlying form factors areextracted using both model-independent (BGL) and dependent (CLN) methods.Comparisons with lattice calculations show flavor SU(3) symmetry to be a goodapproximation in the $B_{(s)}\to D_{(s)}$ sector. Using the BGL results, theCKM matrix element $|V_{cb}|=(41.09\pm 1.16)\times 10^{-3}$ and the StandardModel prediction of the lepton-flavor universality violation variable$\mathcal{R}(D)=0.300\pm 0.004$, are extracted. The value of $|V_{cb}|$ from$\overline{B} \rightarrow D \ell^- \overline{\nu}_\ell$ tends to be higher thanthat extracted using $\overline{B} \rightarrow D \ell^- \overline{\nu}_\ell$.The Standard Model $\mathcal{R}(D)$ calculation is at a $1.97\sigma$ tensionwith the latest HFLAV experimental average.

Model-independent extraction of form factors and $|V_{cb}|$ in  $\overline{B} \rightarrow D \ell^- \overline{\nu}_\ell$ with hadronic tagging  at BaBar