The material universe comes and goes. It is like the systole and diastole of the One Universal Heart, Itself at rest - the moveless play of Consciousness. Each embodied soul or Jivatma will be reborn and reborn into the world until it is freed from all desire. This involves the doctrine of reincarnation, back into the flesh, the Samsara, the Wheel of Life and Death, the wandering in transmigratory worlds. The world is a composite of happiness and suffering, called Dvandva.
Desire leads to manifestation in form.
Desirelessness leads away from it. Those who reach this state find Moksha or Nirvana . In that way, with justice to all beings, true happiness , the immediate and ultimate end of all humanity, and indeed of all being, may be attained. Anyone who holds these beliefs follows the Bharata Dharma or common principles of all Aryan beliefs. But it is always possible to accept the concept of an Eternal Law or Dharma and its sanctions in a self-governed universe.