To be free from selfishness is to ensure happiness.
When the actions are pure and selfless there is no trace of negativity. Where there is no negativity, the mind gets freedom from the bondage of negative thoughts or feelings like guilt, fear etc. This automatically ensures constant happiness. If there is no happiness, there is definitely some kind of negativity. So I need to check the actions that I perform. Let them be not only for my own benefit but also for the benefit of all and I will find that I am able to be in constant happiness.
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