The Munis, Rishies and the exalted Yogis of Bharat (India) penned all their sadhana realizations for the benefit of the future mankind known as the Sastras (The Vedas, Upanishadas, Puranas etc. including Gita). Worshipping of Idols was never mentioned or advised in any of these Sacred Books. When a sadhaka performs this Kriyajoga Sadhana the visualization of these idols come naturally to him and he then comprehends the inner meaning. Those who criticize worshipping of Idols do that out of lack of understanding and utmost ignorance.
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