Madhava's philosophy affirms the complete duality between the Brahman and the self (the small self). God, man and the world have a permanent existence. God is at once above the universe and in the universe. God has a divine Body that transcends all our human imagination. Nothing can be done on earth without God's immediate Concern, direct Approval and express Command from the inner planes. The Supreme Will of the Supreme guides the world. It pilots the world to its destined goal. Man can be free from the shackles of ignorance only when it is the Will of the Supreme. Liberation is not only possible, but inevitable. What is absolutely essential for liberation is man's loving adoration of God.