Pravritti and Nivritti

Having taught this, Krishna goes on to explain other worthy paths which, pursued steadfastly, will bring a seeker to equanimity and, finally, liberation.

Therefore, in Yoga, direct perception is the highest means of gaining knowledge. One must practice and experience the truths of Yoga, not merely read about, discuss, or try to understand them theoretically.

Preya, the passing pleasure that seems pleasing to the senses but soon fades into its opposite, is what we choose when we indulge in injurious physical habits or retaliate against others. Shreya, the good that leads to lasting welfare for the whole, is what we choose by cultivating healthy habits, by bringing conflicting parties together, and by pu

Vyāsa considers error to be essentially the five kleśas, the impediments to the practice of yoga: ignorance (avidyā), ego, attachment, aversion, and clinging to life.