Every being born in this world is eager to attain the state of taint-less eternal bliss. They strive hard in the good path for reaching this state all the time. Even if this is so, they do not have a clear idea of both the goal and the practice (sadhana). Therefore, they have not yet reached the state of wellness which form is liked by their own self.
Vedas describe Jeevatma (individual soul) as the one who is sitting in the chariot, intelligence as the charioteer, body as chariot, sense organs as the horses, sense objects as the path and mind as the rein. Only that seeker who with care and diligence controls all these with effort, for him only ultimate end of the path, this state (Brahman) of eternal happiness, is reachable.
Sages describe Moksha (liberation) appropriately as Eternal Happiness which can be attained only through ultimate knowledge (Jnana) of the non-difference (unity) of Jeeva (individual soul), Eswara (God) and World. That which removes one's delusion, which makes one realize his true nature as bliss and which destroys the false illusory understanding that alone is pure Knowledge (Jnana).
First man should earn strong confidence. Then let him perform karma (action) with desire for enjoyment here and hereafter (swarga). Then realizing the impermanence of the swarga (enjoyment) and so on, gradually, he attains a state without any desire. When he develops sufficient maturity to discriminate between eternal and ephemeral, he should develop keen desire for Truth (Brahman).
It is well known that likes-dislikes and distraction (of mind) are the two obstacles in attaining Knowledge (Jnana). First, these two have to be uprooted as they are obstacles in mind. He who performs action without having any desire (for fruit of action) is freed from likes-dislikes. Then for attaining good mental concentration, he should perform selfless (without any desire) worship (meditation).
Even after gaining knowledge about Brahman, one has to destroy latent tendencies (vasanaa) and thoughts step by step. After this, even though he lives in the world he will always be happy with himself; as Realized Soul (jeevan muktha). When praarabdha karma is exhausted, after his physical body is dead, he attains liberation. He merges with the attribute-less, limitless and highest Almighty (sachchitandanda).