“The individual self is subject to beginningless nescience, which has brought about an accumulation of karma, of the nature of both merit and demerit. The flood of such karma causes his entry into four kinds of bodies — heavenly, human, animal and plant beginning with that of Brahma downwards. This ingression into bodies produces the delusion of identity with those respective bodies (and the consequent attachments and aversions). This delusion inevitably brings about all the fears inherent in the state of worldly existence. The entire body of Vedanta aims at the annihilation of these fears. To accomplish their annihilation they teach the following:
(1) The essential nature of the individual self as transcending the body.
(2) The attributes of the individual self.
(3) The essential nature of the Supreme that is the inmost controller of both the material universe and the individual selves.
(4) The attributes of the Supreme.
(5) The devout meditation upon the Supreme.
(6) The goal to which such meditation, leads.
The Vedanta aims at making known the goal attainable through such a life of meditation, the goal being the realization, of the real nature of the individual self and after and through that realization, the direct experience of Brahman, which is of the nature of bliss infinite and perfect.”

Source: Vedartha Sangraham, 11th century, p. 9-10.