My grandchildren have a dog – a large black Lab. He is confined to a fenced-in back yard. He would love to be in the house or even to run free. But because he goes wild when let inside and raises havoc, he is immediately returned to his back yard abode. If he could just behave himself, he would have free run of the house. A bit more self restraint, on his part, would give him total freedom to roam the community, without bothering the neighbors or their property, and then to return home at the desired times.
The above is an apt analogy, I believe, for human progression. The main lesson, and also the hardest lesson to master in this life, is self discipline. There is a profound saying: FREEDOM IS A LUXURY OF THE SELF DISCIPLINED! This may sound false to many, but is so true that it boggles one’s mind. The more aspects of life that we apply self discipline to, the greater the range of activities that we can enjoy!