It is generally believed that Dharma declines steadily in the four yugas as declared in Manusmriti 1.82, धर्मश्चापैति पादशः. i.e. The Dharm,a which is perfect in Kritayuga, declines quarter by quarter in each Yuga.
Yet, this idea of decline of Dharma in each Yuga is not universal.
Our scriptures reveal that the ruler can create Krita-Yuga even in Kali-yuga. It is possible for a dharmik ruler to create Rama-rajya, a replication of Krita-Yuga in any of the other three yugas.
Mahabharata Santiparva and Manusmriti 9. 301 state that conditions described about the four yugas are not immutably fixed parts of Time, but it is the ruler (who by conducting himself properly) can create the conditions of even Krita-yuga in what common people call Kali-yuga.
कृतं त्रेतायुगं चैव द्वापरं कलिरेव च ।
राज्ञो वृत्तानि सर्वाणि राजा हि युगमुच्यते ॥
Manusmriti 9.301, (also occurs in Mahabharata CE 12.92.6)
"The actions of the king constitute the Krita, the Treta, the Dvapara and the Kali yugas; as it is the king that is called the yuga."
Mahabharata emphatically says that "It is the King who is the cause of Yugas".
Yuga descriptions in the Mahabharata:
Mahabharata 3.148.5-37, dialogue between Bhima and Hanuman
Mahabharata 6.11.1-14, dialogue between Dhritarashtra and Sanjaya
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There was no 'burning of widows' as per scriptures. P.V. Kane uses the word 'self-immolation by the widows' instead of 'widow burning' which is normally used by Indologists.
Swami Vivekananda points out that a widow who insisted to undergo self-immolation, had to pass a fiery test (agni-pariksha), as a proof of her resolute will power. (complete works of Swami Vivekananda Vol 4)
A widow was free to turn back from Sati even at the last moment.
कातरां तु प्रेतोत्तरतः सुप्तां देवरः शिष्यो वा उदीर्ष्वेति मन्त्राभ्यामुत्थापयेत्। Dharmasindhu 3.2.3
If she timid, she would lie beside the body of her husband, then a relative would ask her to get up and go home.
There are two reasons. 1. Sita Devi, who was enchanted by the beauty of the deer, pleads Sri Rama to catch the deer dead or alive. Sri Rama is unable to say 'no' to Sita, knowing how much she wants the deer.
2. Lakshmana requests Sri Rama not to go after the deer and says that it could be Maricha, son of Tataka, who has come in the form of the deer. Sri Rama, then, tells the story of Rishi Agastya and the demon Vatapi.
Vatapi was a wicked demon lived in a forest with his brother. They used to trick unsuspecting travelers and kill them by deceit. Eventually Sage Agastya killed Vatapi and put an end to the misery of travelers.
श्रूयते शम्बुके शूद्रे हते ब्राह्मणदारकः।
जीवितो धर्ममासाद्य रामात्सत्यपराक्रमात्॥ Mahabharata CE 12.149.62
"It has been heard that Rama, truthful in his valour, killed the shudra Shambuka, resorted to dharma, and brought a brahmana child back to life."
Sambuka was killed not because of his caste / tapas. He was punished as he was engaged in tamasik tapas which was harmful to the society.
As per Ramayana, Sambuka wanted to reach the heaven in his physical body and become a deva.
Death penalty
स्त्रीषु कृतोपभोगः स्यात् प्रसह्य पुरुषो यदा ।
वधे तत्र प्रवर्तेत कार्यातिक्रमणं हि तद्॥ Katyayana Smrti 830
When a man has forcibly had sexual intercourse with a woman, he must be given capital punishment since it is violation of conduct.
बलात्कारोपभुक्ता वा वैरिहस्तगतापि वा ।
न संत्यजेद्दूषितां नारीं ऋतुकालेन शुद्ध्यति॥ Agni Purana 165.6
A woman ravished forcibly or fallen into the hands of an enemy should be abandoned. She becomes pure after the menstrual period.
बलात्कारोपभुक्ता वा चोरहस्तगतापि वा।
न त्याज्या दयिता नारी नास्यास्त्यागो विधीयते॥ Skanda Purana 4.40.47
A woman must not be abandoned even if she is raped or falls into the clutches of robbers. Abandoning her is not prescribed (anywhere).
3/n "Kamasastra is also included in Ayurveda, since the work on Kamasastra named vajikarana by Susruta is included there. The Kamasastra consisting of five chapters was composed by Vatsyayana. Its purpose is to cultivate dispassion towards sense-pleasures... "
यमो वैवस्वतो देवो यस्तवैष हृदि स्थितः।
तेन चेदविवादस्ते मा गङ्गां मा कुरून् गमः॥ Manusmriti 8.92
"If you have no quarrel with the god Yama Vaivasvata who sits in your heart, you need not visit the Ganga, nor the Kurukshetra."
Commentator Medhatithi adds, "the reward of going to holy places like Kasi and Kurukshetra consists in the destruction of पाप and acquiring पुण्य; and all this is obtained by a man here and now, if he is at peace with the Supreme Self (within him)."
Commentator Kulluka explains, "the Indwelling Self is called Yama as He is the controller of all beings; He is called Vaivastava as He punishes those who violate Dharma."