All this that you have asked has penances for its root. That penance, again, O son of Pandu, originates from the subjugation of the senses.
तपोमूलमिदं सर्वं यन्मां पृच्छसि पाण्डवः तदिन्द्रियाणि संयम्य तपो भवति नान्यथा॥