Chapter 5 verse 21
“With the self unattached to external contacts, he finds
happiness in the Self; with the self engaged in the meditation of Brahman, he
attains endless happiness”
There are 2 methods to
attain eternal happiness- first is to drop the ego and egoistic desires arising
from the desire driven contact of the senses with the external world. This
requires lot of self less work in the field of action without doer ship. The
second approach is to meditate on the changeless and changing aspects of the universe
and understand what is real and what is unreal. These 2 methods would reveal
the true immutable Self to the individual and take them on the path of eternal
bliss.
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