A person bound by objective desires will try in various ways to fulfil them. He becomes a slave to his senses and their pursuits. But if he withdraws the senses from the world and gets control over their master, the mind, and engages that mind in thapas(penance), then he can establish Swa-rajya or Self-mastery or independence over himself. Allowing the senses to attach themselves to objects is what causes bondage. When the mind that flows through the senses towards the outer world is turned inwards and is made to contemplate on the Atma, it attains liberation or Moksha.
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