Anartha parampara or cycle of ignorance is the cause of the agitations in the mind.

Ignorance of my fullness or Poornata (Self) leads to the sense of incompleteness or

Apoornata, in turn leads to Desires in the mind to fill the incompleteness which manifest
as Actions in the outer world. Ignorance and Desires are the thieves which I cannot see
and difficult to control. But I can control the actions (actions like talking working etc.) I
do in the outer world. So scriptures encourage us to do Satkarma (noble actions) at
physical level, which leads to Sadbhavana (noble feelings in mind and mind becomes
calm) that paves the way for Sadbhuddhi (intellect gets convinced of higher truths and
agitations of desires is lessened) and this leads to Satvastu Vicharana (enquiry into the
Reality).
If Bhagavan becomes the charioteer of my life, I get liberated (e.g. Arjuna). If Desire
becomes the charioteer of my life, I go from one loka to other loka (e.g. Duryodhana).
In the view of ignorance, I+ Object= Happiness.
In the view of Scriptural knowledge, I=Happiness.
For achieving this goal, Sastra advises to follow Satyam at the level of intellect, Ahimsa
at the level of mind and Brahmacharya at the level of physical body. These are the first
aid methods to prepare the mind for higher understanding and then identify the primary
cause i.e. Ignorance and remove it with Self-knowledge.