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Sri Ramji has said that Mata Kausalya must have caused separation of a mother from her son in her earlier birth. That is why she had to suffer separation from her son in the present birth.
The Lord had 8 principal wives. The others were rescued by the Lord from the captivity of Narakasura. He was the king of Pragjyotishapura. He held 16000 princesses as prisoners. When the Lord rescued them, they requested the Lord to accept them as his wives and protect their dignity.
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Glory of Venkatesha
Story of Sri Yantra
Sages and Saints