In this Upanishat all relations are explained on this base of Self and Desire.
Right from husband-wife-son-forefathers up to your own deity as the medium of love-affection-shield-protection is put in the clear and actual logic.
न वा अरे पितराणाम् कामाय पितर: प्रिय:भवन्ति
आत्मनस्तु कामाय पितर: प्रिय:भवन्ति।।
This is the original vers related to Pitaras ie Forfathers....

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