A person whose senses are not controlled by his mind can never reach true happiness or peace, nor can he devote himself to God.
Karmayogi should control his mind, otherwise he will form attachments to his work or outcomes and slip.
A sadhak whose senses are under his control is free of love or hate. He neither loves or hates the outcome of his services. He is completely nonchalant to his success or failure and thus happy.
He enjoys the material world without love or hate, as a result a deep peace and happiness comes over him. And when he overcomes even this feeling he reaches God. his heart is surrendered to God.
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