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Foundations of Tasawwuf

What are the principles and foundations of Tasawwuf and the Tijaniyya?

The core principles of the science of Tasawwuf and the Tijaniyya are rooted in the individual duties of the believers, as outlined in the classical texts:

– Mukhtasar al-Akhdary: The primary duties of the Mukallaf [..] are to adhere
to the limits set by Allah, accepting His prohibitions and
commandments. He must turn to Allah in repentance before
incurring His wrath.

– Matn Ibn Ashir, Chapter on Tasawwuf:
291. Repentance for all past transgressions is obligatory.
293. The essence of God-consciousness lies in avoiding prohibitions
and following commandments, both outwardly and inwardly,
and through this, it is attained.