In plain words
However many ways you worship God, if the purity of citta itself is lacking, all of it goes to waste.
Seeking Mukti, man, before the three crore gods, keeps on praying, but his sorrows do not go; if he can kill the ego within himself, what need of Mukti? Is he not himself Mukti?
What is Ahaṅkāra? To think "I am the body" is Ahaṅkāra. You are not the body; you are the dweller in the body. The body is your instrument. Just because the driver sits in the car and drives it, does the driver become the car? No, no. In the car called the body, the one called the dweller in the body is driving. He remains just himself. He is not the car. Vedānta has been enquiring into this truth, explaining it and teaching it from time without beginning.
In the world, from ancient times, two kinds of path have been taught, called Advaita and Viśiṣṭādvaita. But there are no great differences between Advaita and Viśiṣṭādvaita. Many paṇḍits have given all kinds of teachings about this Advaita that no one can understand, and little by little they have been spoiling the mind of man. Advaita means that what is in everyone is one and the same. But each must do his own work. We must recognise to some extent the difference there is between Viśiṣṭādvaita and Advaita. Advaita is the sugar in the sugar cane. The one who tasted that sweetness, one throughout the sugar cane with no bends, and taught, "This is Advaita," was Śaṅkara. Man's body is like a sugar cane. It may have many forms and names. It may have many likes and dislikes. It may be bound up with many wants and aversions. But what is in all of them is this one sweet, divine juice of God. So Śaṅkara taught. But it was not something ordinary people could understand so easily. Then Rāmānuja explained Viśiṣṭādvaita. "The juice is one, but you can turn that juice into sugar, put it into many things and enjoy it," he said. We can mix it with rice flour and make the sugar into one dish. We can mix it with maida flour and enjoy it as another kind of taste. We can mix it in coffee. We can mix it in juice. We can mix this sugar into everything. The difference between this Advaita and Viśiṣṭādvaita is that Advaita is only the form of the juice itself.