The evolution of the three yanas, or the whole Buddhist path, begins with a sense of discrimination, understanding, and realization: a direct understanding of things as they are, precisely and very clearly. You begin to see the complete cycle of life, including birth, old age, death and so forth. This may seem like a wretched situation, but there is a delight that comes from discovering such truth. You may still be in this cycle, but you don’t feel trapped. You experience some delight from the discovery of truth that you’ve made. You’ve worked out the map and the geography of the path, so to speak.
From an unpublished seminar, Mandala Principle and the Three Yanas, Talk Two: “Discrimination” by Chögyam Trungpa