"Desire by itself is not wrong. It is life itself, the urge to grow in knowledge and experience. It is the choices you make that are wrong. To imagine that some little thing -- food, sex, power, fame -- will make you happy is to deceive yourself. Only something as vast and deep as your real self can make you truly and lastingly happy."
I AM THAT -Sri Nisargadatta Maharaj.
One of the hardest things to understand is that we, or our true selves, are already built perfect. I have read this, it has been explained to me, and it is one of the core ideas of yoga philosophy. Everything based in nature is suffering (or causes suffering) - the stuff beyond nature, and further into our own divinity is perfect and only that can bring us true joy. So why can't we just look into ourselves and find this happiness? Patanjali would call this Avidya - ignorance - or confusing nature for the divinity within ourselves.
The quote above from Nisargadatta makes it all sound so simple. Our true self is there - we don't have to find it, it is not a quest. We have to let ourselves be it, and let release the notion that the mind is the self. Easy right?