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When Lord Buddha appeared, the people of India, although following the Vedas, had deviated from the primary goal of Vedic philosophy. They had become preoccupied with performing ceremonies and rituals for material enjoyment. Some of the rituals included animal sacrifices. The people had begun to sacrifice animals indiscriminately on the plea of Vedic rituals and then indulged in eating the flesh. Being misled by unworthy priests, much unnecessary animal killing was going on and the people were becoming more degraded and atheistic.
The rituals that included animal sacrifices, according to the Vedas, were not meant for eating flesh. An old animal would be placed in the sacrificial fire and, after the mantras were chanted, it would come out of the fire in a new and younger body as a test to show the potency of the Vedic mantras. However, as the power of the priests deteriorated, they could no longer chant the mantras properly and, therefore, the animals would not be brought back to life. So in the age of Kali all such sacrifices are forbidden because there are no longer any Brahmans who can chant the mantras correctly. Thus, Lord Buddha appeared and rejected the Vedic rituals and preached the philosophy of nonviolence. In the Dhammapada (129-130) Buddha says, "All beings fear death and pain, life is dear to all; therefore the wise man will not kill or cause anything to be killed."
The Vedic literature also teaches nonviolence, but Buddha taught the people who used the Vedas for improper purposes to give them up and simply follow him. Thus, he saved the animals from being killed and saved the people from being further misled by the corrupt priests. However, he did not teach the Vedic conclusions of spiritual knowledge but taught his own philosophy.
...after the disappearance of Lord Buddha, the authority of the Vedas and Vedic culture was reinstated by such scholarly personalities as Shankaracarya, Ramanujacarya, Madhvacarya, Nimbarka, Baladeva Vidyabushana, Sri Caitanya Mahaprabhu, and others.
http://www.stephen-knapp.com/buddhism_and_its_vedic_connections.htm
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