Without scheming to do wrong, or to make others unhappy, there may be error and there may be misery. Thoughtlessness, want of attention to other people's feelings, and want of resolution, will do the business.
There is only one inborn erroneous notion ... that we exist in order to be happy ... So long as we persist in this inborn error ... the world seems to us full of contradictions. For at every step, in great things and small, we are bound to experience that the world and life are certainly not arranged for the purpose of maintaining a happy existence ... hence the countenances of almost all elderly persons wear the expression of ... disappointment.
Therefore: In dwelling, choose modest quarters, in thinking, value stillness, in dealing with others, be kind, in choosing words, be sincere, in leading, be just, in working, be competent, in acting, choose the correct timing. Follow these words and there will be no error.
The Vedanta recognizes no sin it only recognizes error. And the greatest error, says the Vedanta is to say that you are weak, that you are a sinner, a miserable creature, and that you have no power and you cannot do this and that.