Desiring, grieving, etc, are the modifications of the chitta, the mind-stuff, which may be likened respectively to a lake and its ripples. The depths of the lake are as it were our own true nature Self. We can only catch a glimpse of the depths when the water is calm and clear and there are no waves.
If the water is muddy or agitated, the depths will not be seen. Likewise, as long as there are mental modifications, which are possible only so long as we identify ourselves with them, we cannot see the Self and are ignorance and bondage.
But when the mind is calm and free from such modifications, we realize our true nature and thus attain liberation.
Swami Nityaswarupananda