Katha Upanishad, which belongs to the Yajur Veda, consists of two chapters, each of which has three sections. It employs an ancient story from the Rig Veda about a father who gives his son to death (Yama), while bringing out some of the highest teachings of mystical spirituality. There are some passages common to the Gita and Katha Upanishad. Psychology is explained here by using the analogy of a chariot. The soul is the lord of the chariot, which is the body; the intuition is the chariot-driver, the mind the reins, the senses the horses, and the objects of the senses the paths. Those whose minds are undisciplined never reach their goal, and go on to reincarnate. The wise and the disciplined, it says, obtain their goal and are freed from the cycle of rebirth.
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