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The Bhagavad Gita outlines four primary paths (Yogas) to liberation (Moksha). These four paths cater to different human temperaments viz. action, emotion, intellect, and internal discipline respectively. The Four Paths (Yogas) to Liberation are Karma Yoga (The Path of Selfless Action with attitude of detachment of its fruits), Bhakti Yoga (The Path of Selfless Love & Devotion and complete surrender to Supreme Being), Jnana Yoga (The Path of Knowledge to destroy ignorance) and Raja Yoga (The Path of Meditation to achieve the state of Samadhi).
The philosophy of path of spiritual knowledge has been lucidly explained in Treta Yuga by Maharishi Visishta to Bhagwan Rama (Yoga Vasishta Scripture) and Bhagwan Dattatreya to Bhagwan Parashurama and outlined the various steps to attain liberation. In Kaliyuga, Adi Shankaracharya in 8th century and Ramana Maharshi in 20th-century explained the philosophy of spiritual wisdom. It is realisation that
1. The Self (Atman/Brahman): Self-Realization is simply the removal of the ignorance (the ego) that veils this ever-present truth. 2. Consciousness is the Only Reality: Existence-Consciousness-Bliss (Sat-Chit-Ananda) is the nature of the Self. The world, the individual soul, and God are all appearances that arise and disappear on the screen of Consciousness (like pictures appearing on a cinema screen, but the screen itself is the only reality). 3. Self-Inquiry is the practice of retaining the mind in the Self.
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