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Why we do wrong things although we do not want to do?

Many of the times we do wrong things but later we realize, why we did so? And we feel guilty for the same.There are the reason behind it, nothing happens by chance in this world.  In Srimad Bhagwad Gita chapter (3.37), it is mentioned; it is our lust which force us to do such kind of activities which we realize later (it was right or wrong). When we try to fulfill our desires due to three modes of material nature (mainly passion/ignorance), if we fail to do it then we show our anger towards others or our own. And that is the main reason to fall down. And desires comes from more association of the people who are in passion and ignorance. If we keep avoiding association of these people then only we can keep our desire in control else there is no way. As Lord Krishna says in Bhagwad Gita, once lust comes in our mind, no one can protect us, but if we take shelter of Krishna, He only can save us. श्री भगवानुवाच काम एष क्रोध एष रजोगुणसमुद्भ‍वः । महाशनो महापाप्मा विद्ध्येनमिह वैरिणम् ॥ 3....