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This is the Pavamana Mantra (also called the Asato Ma Sadgamaya mantra) from the Brihadaranyaka Upanishad. It captures the journey from illusion/finitude back to the infinite truth, while implicitly acknowledging why the soul dives into the finite play (lila/maya) in the first place—to experience, learn, and ultimately return.

Here's the full mantra in Sanskrit, transliteration, and meaning:
Sanskrit
असतो मा सद्गमय ।
तमसो मा ज्योतिर्गमय ।
मृत्योर्मा अमृतं गमय ॥
ॐ शान्तिः शान्तिः शान्तिः ॥

Transliteration
Asato mā sad gamaya
Tamaso mā jyotir gamaya
Mṛtyor mā amṛtaṃ gamaya
Om śāntiḥ śāntiḥ śāntiḥ

Literal Translation
Lead me from the unreal to the Real.
Lead me from darkness to Light.
Lead me from death to Immortality.
Om Peace, Peace, Peace.