What is the ultimate goal of Moksha and what stands in the way of achieving it?

The ultimate goal, known as Moksha or liberation, is defined as 'abiding in one's own form.' This state is not something to be acquired but is the soul's natural state. The primary obstacle standing in the way of this realization is ignorance (Avidya), which functions as a veil. As explained in Chapter 50, this ignorance causes one to misidentify with the body and develop attachments and pride. The path to achieving Moksha involves removing these veils of ignorance through the 'power of instruction' and the 'discernment of ignorance.' Only when this delusion is overcome through determination and wisdom can one realize the unity of the Soul and Brahman, which is the key to liberation.