Krishna delivers a highly practical, urgent command regarding impulse control. He says: Whoever is able (śaknotī) right here in this very world (ihaiva), prior to being liberated from this physical body at death (prāk śarīra-vimokṣaṇāt), to successfully withstand and tolerate (soḍhuṃ) the violent force and urge (vegaṃ) born of lust and anger (kāma-krodhodbhavaṃ)... that person is a true Yogi (sa yuktaḥ), and that person alone is a truly happy human being (sa sukhī naraḥ).