Here is an example of how one can worship bhagavAn while remaining in svadharma.
Thirumangai Azhwar, in siRiya thirumaDal says
ErAr muyal vittuk kAkkaip pin pOvadhE
[Why chase after a useless crow, leaving aside the attractive rabbit]+
The idea is, a rabbit is easy to trap, & very delicious to eat.
However, a crow sits on a branch, can fly, so it is difficult to trap. It requires implements like bow and arrow to catch it and even if one catches it, there is no guarantee that crow meat is fit for consumtpion+
By this example, Azhwar asks, "When there are so many abodes of bhagavAn here and he graces us with his presence in temples, why do you unnecessarily do penances and try to attain the supreme abode which seems so far and distant?"+
The message is to remain content serving bhagavAn here and do whatever is possible for us. After all, the bliss of service to bhagavAn is available here itself.
Now, because Azhwar was born in that kula, he has tasted rabbit meat and can vouch for it+
A bhakta remains in svadharma and whatever he does, is never a dosha. Velukkudi Swami used to jokingly say when quoting this pAsuram in lectures, "Do not ask me how good rabbit meat tastes, I have not eaten it. But azhwar is a vIra (valorous one), he can do whatever he wants!//
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Continuing with the theme of things happening in opposite ways in rAmAyaNa and mahAbhArata, here is one more such instance.
In both the ithihAsAs, people get premonitions of the impending war (rAma against rAvaNa, pANDavAs against kauravAs) in dreams, as follows+
In rAmAyaNa, TrijatA explains to the rAkShasIs in the presence of sIta that she had a dream -- that rAma would be coming to initiate a great war and kill rAvaNa, and rescue sIta+
[TrijatA: In this dream, I saw rAma, who has the strength of vishNu, who is born in Raghu’s vamSha (rAghava), along with lakShmaNa, his brother and sIta.]+
There is a beautiful Rg Veda mantra (6.50.14) that describes the greatness of the weapons of bhagavAn in the course of describing his vAmana/Trivikrama avatAra, as below+
[May he hear us, present in coils of Shesha (in the milky ocean), of a unique birth, displaying only a part of himself, who as vAmana is the Earth in patience, who as Trivikrama, the producer of desires]+
अहिर्बुध्न्य – He who is present in depth or ground (बुध्न) of the serpent. The depth means depth of the coils. Or, as the coils of a snake are its’ support or base, it directly refers to these coils.
It means, he is sunk deeply in the coils of Adi Shesha, in the milky ocean+
When bhagavAn narasimha was angry, all the gods could not pacify him.
I had mentioned earlier that this is because he had totally assumed the manner of a lion, and seeing his own reflection in hiraNyakashipu’s blood, thought there was another lion challenging prahlAda!+
The gods had never before seen bhagavAn in this manner. Thus, they sought the mediation of shrI.
The bhAgavata and padma purANas have slightly different versions of how shrI ensured bhagavAn was pacified+
As I have said before, as per AchAryAs like vedAnta desikan, shrI performs mediation in 2 ways - by her motherly affection, she advises the jIvAs to turn towards bhagavAn, and by her beauty, she seduces bhagavAn to make him obey her and favor the jIvAs+
In all of shAstra, there has been no bhakta who has had LakShmI herself approach him or her first. Normally, a bhakta seeks devI first, then she bestows her anugraha.
Only Hanuman had the honor of devI herself taking steps towards him+
[sIta, having taken her pearl necklace off, was looking at Hanuman, the monkey (an object of her affection), which was seen by her husband and vAnarAs]+
Hanuman never approached sIta here. But it was sIta who was longing to bless him, something which is a rarity as she always waits for the bhakta to approach her.
The specialty of this was not lost on the bhaktAs as well as bhagavAn, who spoke next+
Yoga practices in tAntrika and Agamika systems is different from the yoga darshaNa propagated by brahmA, which is accepted as ancillary to vedAnta. So this is quite incorrect.
Relevant to this, is an explanation of the various systems of thought in shAnti parva as follows+
Janamejaya, desirous of knowing the valid system of thought, questions VaishampAyana,
सांख्यं योगं पञ्चरात्रं वेदारण्यकम् एव च ज्ञानान्य् एतानि ब्रह्मर्षे लोकेषु प्रचरन्ति ह किम् एतान्य् एकनिष्ठानि पृथङ् निष्ठानि वा मुने प्रब्रूहि वै मया पृष्टः प्रवृत्तिं च यथाक्रमम्+
[Janamejaya: Sankhya, Yoga, pAncharAtra and Veda which is a forest (difficult to understand), exist currently in the world. Do they have their basis as one, or are they different? In response to my question, explain their manifestations in due order.]+
Was reading the part of MB where bhIma kills duhshAsana and drinks his blood. Here are a couple of interesting shlokAs from Karna parva.
दुःशासनं तत्र समीक्ष्य राजन्भीमो महाबाहुरचिन्त्यकर्मा । स्मृत्वाच केशग्रहणं च देव्या वस्त्रापहारं च रजस्वलायाः… ततोऽपिबच्छोणितमस्यकोष्ण+
[Seeing duhshAsana, bhIma, of mighty arms and inconceivable deeds, remembered how draupadi was dragged by her hair and disrobed when she was in her periods….he drank his warm blood]+
bhIma killed duhshAsana due to his rage at remembering past sufferings.
The tAtparya here is that, a jIvAtma gains a desire for the true object of the Veda (Brahman) by continuous rememberance of sufferings undergone due to pursuing other petty goals of the Veda+