Every portion of body, mind, and spirit yearns for integration of yin and yang… Where ordinary intercourse unites sex organs with sex organs, angelic cultivation unites spirit with spirit, mind with mind, and every cell of one body with every cell of the other body.
As long as you have attachment to the body and attachment to objects, fear and suffering will be with you. Therefore Krishna told Arjuna to develop his discrimination and rid himself of body consciousness. Only then he would be able to develop integral vision.
I reached in experience the nirvana which is unborn, unrivalled, secure from attachment, undecaying and unstained. This condition is indeed reached by me - deep, difficult to see, difficult to understand, tranquil, excellent, beyond the reach of mere logic, subtle, and to be realised only by the wise.
When the road ends, and the goal is gained, the pilgrim finds that he has travelled only from himself to himself.
