Śivasaṃhitā 5.212

Making the world parokṣa (indirect) is the tantric technique of the witness: full functional participation in the world is maintained but with the understanding that its objects are not reality’s ultimate substrate. The yogi-gṛhastha lives fully in the world but not from the world—lives from the consciousness that contains everything. This is the secret of yoga in ordinary life.

Carācara = what moves and what does not move (the universe’s totality), viśva = world/universe, parokṣa = indirect, non-immediate (para = beyond, akṣa = the eye), gṛha = house, dāra = wife/spouse, putra = children, saṅga = attachment. The expression «footsteps of the perfected» (siddha-padavī) evokes the lineage of the realized.

The ideal of the gṛhastha-yogī that the Śiva-saṃhitā advocates here would have enormous influence on later Indian spirituality. Śaṃkarācārya’s Vivekacūḍāmaṇi, the model of the nayanmārs and āḻvārs of South Indian bhakti, and finally the teachings of Ramana Maharishi and Nisargadatta Maharaj would all express the same ideal: liberation perfectly compatible with life in the world.