Scriptures teach that true and eternal bliss is found only in liberation, while all pleasures experienced in worldly life (samsara) are mixed with sorrow. The supreme abode of liberation is Sri Vaikuntha (Paramapada), and it can be attained only through the grace of Sriman Narayana, as the scriptures declare that Janardhana alone grants moksha, said Sri Desika Srinivasa Thathachariar in a discourse. The Lord may be attained through two paths: Bhakti Yoga (devotion) and Prapatti or Saranagati (complete surrender). Attaining Him leads to the highest joy of Bhagavat Kainkaryam, eternal service to the Lord.

The Bhagavad Gita explains that through Karma Yoga, one disciplines the body, mind, and senses, and through Jnana Yoga, one gains spiritual knowledge. When this knowledge matures, it becomes Bhakti, which grows into Para-bhakti and ultimately leads to liberation. Lord Krishna teaches that only through Ananya Bhakti, exclusive devotion to Him, can one truly know and realise Him.

Bhakti Yoga is practised through Ashtanga Yoga, as described in the scriptures. This eightfold discipline is also mentioned by Sri Patanjali Maharshi in the Patanjali Yoga Sutra. Its eight limbs are Yama, Niyama, Asana, Pranayama, Pratyahara, Dharana, Dhyana and Samadhi. Yama includes virtues such as non-violence, truthfulness, compassion, self-control, moderation and purity. Niyama includes faith in God, charity, scriptural study, self-discipline and japa. The remaining limbs involve posture, breath control, sense withdrawal, concentration, meditation, and finally Samadhi, the highest state of uninterrupted absorption in the Lord.

Great sages such as Parasara Maharshi attained direct realisation of the Lord through Bhakti Yoga. However, since practising all eight limbs perfectly is extremely difficult, Lord Krishna compassionately revealed the simpler path of Prapatti (Saranagati) in the Bhagavad Gita, 18th Adhyaya, sloka 66, teaching complete surrender to Him as the direct means of attaining His grace and reaching the eternal bliss of Paramapada.