Knowledge does not destroy the Ishvara-created world. But, the individual soul has, due to his ignorance, imagined an entire creation within it. The sorrow caused by it is permanently destroyed through knowledge. The causes of joy and sorrow of the world remain as they are, they also come in contact with the senses, the perception of favourable-unfavourable caused by impressions in the mind also happens, but the appearance of joy and sorrow does not happen in the self. "I am happy, I am sad" - such thought flows do not arise in the mind. This is yoga as per the Gita 6.23 :
You should know the definition of yoga as that which severs connection with sorrow. You should engage in yoga with firm conviction and a non-despondent mind.
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