Manduka Upanishad:~ Yoga is in the sphere of duality and is unnecessary to one who knows non-duality.
In Yogic Samadhi, the yogi is unaware of the universe, and hence of the ultimate truth or Brahman. To talk of Brahman without knowing the meaning of the universe is like utterly meaningless. Nirvikalpa gives only the idea of the Soul but not the truth of the whole.
Yogi thinks of the blankness or thoughtlessness in his samadhis as Brahman.
It is not enough to see a mere blank, Nirvikalpa. You have to see the invisible Soul, the universal Self, which is the cause of the world in which you exist, and it, itself, is uncaused.
The Soul, the Self, is free from ignorance, not when it sees nothing at all, as in Yogic Samadhi, but only when it sees this entire universe in itself. Hence, there is a need to know
“What is this universe?”
The attention must be drawn to the external world. Advaitic wisdom is the only weapon to bring peace, love, harmony, and universal welfare. This is the highest aim of Advaita to realize that the world in its essence is Advaita.
It is no use seeing the personal God everywhere. You must see the Soul, which is present in the form of consciousness everywhere, and then you will be able to treat the world in which you exist as consciousness.
Panchadasi: ~ the impossibility of yoga arriving at a successful end to its practices. P.509 v, 109
The ‘Self’-realization through yoga is not philosophic. Every yogi who shuts himself in a cave is not thereby freed from thinking.
Yoga can lead only to temporary peace because the world is subject to change. Only Self-knowledge or Brahma Gnana or Atma Gnana can yield Advaitic awareness in the midst of form, time, and space. : ~ Santthosh Kumaar

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