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Taavah (Desire)
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A taavah is a strong desire that rises in a person's heart. Evil desires arise from the left cavity of the heart - the dwelling place of the Nefesh HaBehamis (animal soul). The aspect of taavah belongs to the level of Nefesh from the Sefira of Malchus, and it is a strong yearning rooted in the source of Middos which is the will of the soul - the Sefira of Kesser. Regarding this, the famous teaching of the Alter Rebbe explains that the phrase "Hashem desired to have a dwelling place in the lower worlds" expresses how the Supreme Will has no logical explanation or reason, but is rather in the category of taavah, about which it is said in Yiddish "Oif a taavah fregt men nisht kein kashas" - "On a desire one doesn't ask questions." Taavah in a way that transcends understanding and logic also exists in serving Hashem: As Rashi explains the verse "How my flesh yearns for You" - "An expression of desire that has no comparison." The Baal Shem Tov explained that the physical desires that a person craves have absolutely no comparison to King David's desire for Elokus. In contrast, physical desires specifically come through thinking about the object of desire. Since desire comes from thought which is opposite of wisdom - the Rambam determines that desire only rules over a heart empty of wisdom. Nevertheless, the Alter Rebbe explains that the purpose of the mitzvah of the Para Aduma (Red Heifer) is to separate from the four elements that compose the cow the elements of fire, wind, and water - corresponding to the thought, speech and action within the cow - the animal soul - from its ashes - corresponding to the power and source of desire, through which the impure will be purified. The reason for this is that the power of desire in its essence and root is good and holy, but the physical body in which it is clothed conceals and hides this. Therefore, the Alter Rebbe explains that a person who is seized with desire does not need to suppress it, but rather to strip the desire of its physical and forbidden garment, and use the power of desire itself as leverage for matters of Torah and holiness.
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