Human evolution is clearly explained in all the shruti and smruti Texts.The very idea of creation itself is a joy. The supreme Lord Himself explained: 'eko'ham, bahusyam | meaning, "I am One and shall become many." Thus, He manifests in multifarious forms. Now, the problem of happiness, joy or misery has to be exclaimed in the light of the scriptural sayings. Human form is not the ultimate in the evolution. It is almost the middle one- starting from the lower germs and worms, viruses, insects, and the like to the fish, frog, and monkey and man, to higher and higher manes or pitrus, devi devata, Rishis, and the trinity- Hari, Hara, Brahma! (see Ch. XV Verse 1- 'urdhvamula ashvatham...'). All these creations come within the clutches of time, space, causality and will not give any enduring happiness. There is always a change involved here. This is what is explicitly stated in the Gita by none else than Bhagavan Shree Krishna. He Himself manifests in different forms as per vibhuti yoga!
Thus, the state of human evolution is one of gross, mundane existence. There are subtler aspects that are to be clearly understood. Now, the question of happiness is one of the mind and the senses. The body is a gross entity and has no intelligence and experience on its own. Happiness is not that of the hand while eating, or of the legs while walking to a concert or cinema hall. The senses and limbs work as per the direction of the mind and the ego. Unless the mind shows any interest there is no action on the part of the body. Hence the Gita lays emphasis on mind control, yoga.
It is also stated that the joy or happiness experienced by the jiva at human level with the gross body may be one as compared to 100 of the manes/pitrus who have been promoted from gross to subtler (body-less but anthahkarana- mind and feelings intact!) state. This is the reason why we perform certain rites regularly for the departed souls of elders to get their blessings! The happiness of the devi devata is also a hundred times more than the pitrus since they too have anthahkarana towards the jiva rashi. The happiness of the jnyani, Rishis and saints and sadhu who revel in higher conscious devoid of human aspirations and worldly sensuous joy is said to be a million times more! Most of the learned spiritual aspirants take to yoga and stay in samadhi to experience this bliss as much as possible. These jnyani have realized that no permanent joy, happiness, or bliss can be experienced in a fleeting world of time! All relations are mere ploy! No happiness can come from worldly relationships. So, Bhagavan advises us to keep away from desires, withdraw mind and senses from worldly joys and go to a solitary place and meditate on me, regularly. This will give immense happiness.
Hence, one should aspire to reach the state of mahat ananda or Brahmananda experience the eternal happiness, instead of the sensuous, whimsical temporal joys invariably accompanied by its opposite of misery!
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