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It can be either by physical or psychological. But without feel we cannot experience anything in this world. The warmth, the kindness, the pain, happiness etc anything that can be carried us to by feel. If we want to experience anything FEEL is necessary. Here I wanna present one incident. Once a little pig got struck in the drain and was trying to come out of that. Many people were crossing the road and saw the pig. But nobody tried to pull the pig out. After some time the president of America was crossing the road and he stopped and he himself helped the pig to come out. It became a hot news and immediately after reaching the white house people, journalists were around him and started appreciating him. Finally they asked what made him to help the pig.
He replied “he helped the pig not because he saw the pig was suffering but because he felt the pain of the pig”. The president is none other than Abraham Lincon. Feel the pain of others then only we can understand the depth of it. Not even pain, happiness and whatever is the condition if we feel, then we can enjoy the depth of that. That gives fulfillment for whatever we are doing or experiencing.