This seemingly endless stream of ignorance can be crossed over only by the constant company of the enlightened ones.
From such company there arises wisdom concerning what is worth seeking and what is to be avoided.
Then there arises the pure wish to attain liberation. This leads to serious inquiry (for the truth). Then the mind becomes subtle, because this inquiry thins out the mental conditioning (which blocks wisdom).
As a result of the rising of pure wisdom, one's consciousness moves in the reality (awareness). Then the mental conditioning vanishes and there is non-attachment. Bondage to actions and their fruits ceases. The vision is firmly established in truth and the apprehension of the unreal is weakened.
Even while living and functioning in this world, he who has this unconditioned vision does what has to be done as if he is asleep, without thinking of the world and its pleasures. After some years of living like this, one is fully liberated and transcends all these states, he is liberated while living.
When mental conditioning is overcome and the mind is made perfectly tranquil, the illusion which deludes the ignorant comes to an end. It is only as long as this illusion (maya) is not clearly understood that it generates this great delusion; once it is clearly understood, it is seen as the infinite and it becomes the source of happiness and the realization of the absolute Brahman (consciousness).
It is only for the sake of instruction that one speaks of the Self, Brahman, god, etc., but in truth one alone is. It is pure consciousness, not embodied being.
It is, whether one knows or not, whether one is embodied or without a body.
All the unhappiness you see in this world belongs to the body, the Self which is not grasped by the mind or senses is not touched by sorrow.
In the Self (consciousness), there is no desire: the world appears in it without any wish or intention on its part.
(Concise Yoga Vasistha pg 115 to 116 - ISBN: 087395954X)