Why does the soul descend into a physical body according to Chassidus?

Why does the soul descend into a physical body according to Chassidus?

The soul descends into a physical body in this world because G-d desired to have an abode in the lower worlds [2]. Each soul has general and personal tasks to fulfill through its "work" and "labor" in this material world [5]. This descent involves the soul being clothed within the animal soul, which is derived from the *kelipah* and *sitra achara* [1].

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