The practice of yoga and meditation is enhanced by discipline, self-study, and surrender to the Lord in order to remove obstacles such as ignorance, egoism, attachment, aversion, and clinging to life. Obstacles result in action patterns that cause suffering in this life and the next, as virtue and vice bear the fruits of pleasure and pain; but concentration overcomes their effects. Future suffering can be avoided if the perceiver does not identify with the perceived. Discriminating undisturbed intelligence removes ignorance and suffering by the absence of identity and the freedom of the perceiver.