It may not be necessary to undergo the disciplinary system of Varnasrama-dharma, if one directly engages in the process of devotional service to the Supreme Lord.

The purpose of the material creation by Brahma is clearly described herein. Every human being should beget nice children in the womb of his wife, as a sacrifice for the purpose of worshiping the Supreme Personality of Godhead in devotional service. In the Viṣṇu Purana (3.8.9) it is stated:

Varnasramacaravata purusena parah puman
Viṣṇur aradhyate pantha nanyat tat-tosa-karanam

“One can worship the Supreme Personality of Godhead, Viṣṇu, by proper discharge of the principles of varna and asrama. There is no alternative to pacifying the Lord by execution of the principles of the varnasrama system.” Viṣṇu worship is the ultimate aim of human life. Those who take the license of married life for sense enjoyment must also take the responsibility to satisfy the Supreme Personality of Godhead, Viṣṇu, and the first stepping-stone is the varnasrama-dharma system. Varnasrama-dharma is the systematic institution for advancing in worship of Viṣṇu. However, if one directly engages in the process of devotional service to the Supreme Personality of Godhead, it may not be necessary to undergo the disciplinary system of varnasrama-dharma. The other sons of Brahma, the Kumaras, directly engaged in devotional service, and thus they had no need to execute the principles of varnasrama-dharma.

Source: A.C. Bhaktivedanta Swami Prabhupada (2014 edition), “Srimad Bhagavatam”, Third Canto, Chapter 13 – Text 11

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