If you're going to be spiritual, you have to protect yourself. Common sense always. One good way of driving away this fog is forgiveness. This non-forgiveness generates a big fog, thick fog in our lives. Letting go forgiving that internally. In one's last life one becomes a simple person. Yathard Travashanam speaking things as they are. Nothing confounds the clever so much as simplicity. So, Satyam, truth. Dhamma, Dhamma means control of the senses. Shama, control of the mind, internals, the mind. Sukha and Dukha, all the translations and commentary is very simple.
Swami Sarvapriyananda teaches Chapter 10 Verses 4-6 of the Bhagavad Gita. In this series of talks, Swami Sarvapriyananda unfolds the highest truths of Vedanta through the study of the Bhagavad Gita (The Song of God).