Shankara charia gives his qualifications for learning vedanta. The fourfold qualifications we know are veveca, dispassion and weraga. Damah means control of these sense organs and motor organs. Uperat raraty means enjoyment of sense pleasures. And then the fourth one is withdrawal from a sensory pleasure in up no longer seeking it.
Swami Sarvapriyananda teaches one of the shortest and most profound upanishads accompanied by Gaudapada's Karika. This lecture covers Mantra 1.