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Chapter 5, Sloka 23
Saknoti-Ihaiva Yassodhum Praak-Sariira-Vimokshanaat I
Kaama-Krodhod-Bhavam Vegam Sa Yuktaha Sa Sukhii Naraha I
In the previous verse ,Krshna detailed that whoever derives pleasure out of satisfying his desires through the objects of his liking, end up in sorrow, resulting in bo***ge and rebirths.
In this 23rd verse, Krshna gave an important statement that he who conquers the pressure of desire and anger in this present life itself, while living in Bhooloka,on Earth, is a Yogi who becomes fit to gain permanent happiness in due course of time. Therefore, Krshna indicated here, that extra effort is required by the seeker until the goal is reached because there is no guarantee that the next birth will be in this world or upper or lower world = Bhooloka or Svargaloka or Paataala Loka. The Upper or Lower Worlds are only Bhoga-Bhoomis= suitable only for exhausting the results of actions performed in Bhooloka, results of good actions are exhausted in Svarga Loka and results of bad actions are exhausted in Paataala Loka. Whereas. Bhuuloka is said to be Karma-Bhuumi,where one can adopt injunctions by Veda, perform Karma-Yoga and over a period, attain Immortality, with the guidance of a Guru.
1- Saknoti Iha Eva, Yaha *Sodhum ,
Kaama-Krodha-Udbhavam ,/Vegam, A person who is able to completely *withdraw the /force of his desire and anger,
2- Praak Sariira Vimokshanaat=before the death of this body,
3 - Saha Yuktaha Saha Sukhii Naraha.
He is a Karma-Yogi. He is a happy person. Soon he becomes eligible
for Moksha, here itself, in this life itself. So said Lord Krshna.