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“It seems to be contradictory. But the secret is that any desire without any personal or selfish motive will never bind you. Why? Because the pure, selfless desire has no expectation whatsoever, so it knows no disappointment no matter what the result. But though it expects nothing, it has its own reward. When you make someone happy, you see his or her happy face and feel happy yourself. If you have really experienced the joy of just giving something for the sake of giving, you will wait greedily for opportunities to get that joy again and again. Many people think that by renouncing everything, by becoming selfless and desireless, there is no enjoyment. No. That is not so. Instead, you become the happiest man or woman. The more you serve, the more happiness you enjoy. Such a person knows the secret of life. There is a joy in losing everything, in giving everything. You cannot be eternally happy by possessing things. The more you possess, the more sad you become. Haven’t we seen millionaires, people of high position, prime ministers, presidents? Are they happy? No. The higher the position, the greater the trouble. Only a saint, a renunciate, is always happy because there is nothing for a saint to lose. Because you don’t have anything, you have your Self always. That is the secret.”
― Swami Satchidananda, The Yoga Sutras of Patanjali: Commentary on the Raja Yoga Sutras by Sri Swami Satchidananda