Shree Swaminarayan The Bhagvad Geeta, the incomparable book on the path of Action and on the synthesis of Yogas of Bhakti, Jnana and Karma, says an eternal truth in one of its verses:

"Whenever there is a decline of righteousness and rise of unrighteousness, the Almighty Lord descends on earth in human form."

About a couple of centuries ago, the world was passing through turmoil and anguish, violence and unrighteousness was in the ascendent, discord and distortion ruled the minds of the people, the texts of scriptures were twisted and distorted to serve the purpose of selfishness and sex-indulgence and acquisition of wealth, there was as if the densest darkness on the soil of India.