There was a rishi (Mandavya) in his ashramam, doing his meditation.
Soldiers were chasing the thieves, who looted the Royal palace.
The thieves entered the ashramam, hid their loot and hid themselves in the ashramam.
The soldiers came searched the ashramam, asked Mandavya about the thieves.
The rishi deep in meditation, did not answer. And one of the soldier found a thief, so they searched the ashramam found all the thieves and the loot.
So the soldiers thinking that Mandavya also in cahoots with them, arrested all of them and took to the king.
The king ordered all of them to be impaled.
The thieves died, the rishi did not die on the stake. He called other rishis for help, they came and explained it to the king.
The king finding that Mandavya had not died, asked for his forgiveness for the mistake. And ordered the rishi to be brought down from the stake.
The soldiers could not remove the rishi from the pole, so they cut him down.
Mandavya forgave the king, but the rishi had to live with a part of the pole in his body.
Eventually when Mandavya died, he went to face Yaman.
He asked Yaman, why he had to suffer with a pole in his body thru out his life.
Yaman told him, you once stuck an insect with the blade of grass and hence this punishment.
Rishi asks Yaman, when did this happen. Yaman replies, when you were 12 years old.
The rishi becomes angry, any thing that is done by a child is not a crime / sin. And anyone who had not attained the age of 14, is a child.
So he curses Yaman, for punishing him unjustly, that you will be born in the earth as a Sudra child for this injustice.
So Yaman was born as Viduran, to a servant maid.
That is why Viduran is righteous and always knows what is right & wrong (as Yaman is the judge of everything)
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