The unification or “yog” of all humans in the psyche of the humans, that rises through simple human action or karma, with pure nonconflicted devotion or bhakti to the action and the self, while learning through healthy, effort-less effort or hatha and knowledge or gyana, is the king of all yoga, that is, raja yoga. This unification among humans is the real samadhi or nirvana in the civilized society of thinking humanity, for it brings true oneness with your fellow beings which leads to a real, actual, genuine paradise on earth, without the need for theorizing and philosophizing.