The world is not a burden; we make it a burden by our desires. When the desires are removed, the world is as light as a feather on an elephant's back.
Love everyone, including yourself. This is real sadhana.
Who realizes what? That is realization.
Desire is the creator; desire is the destroyer.
When body, breath, and mind work together in harmony to achieve a spiritual goal, that is yoga.
Tapas is not a penance, it's a mental training to develop will power