Tanya Chapter 31 part 3

Once we truly realize the enormity of the Divine soul's exile, we are prompted to action. Our agenda now becomes to free the soul from captivity and restore her to being totally united and absorbed within the Divine reality. This is achieved through an incredible space where no darkness exists, where the Divine is totally manifest, where the truth of reality is completely exposed. Torah and Mitzvot. 

This type of mindset, of focused intention to free the soul from captivity, is one of "teshuva" -- return and restoration. It is not a single act of repentance, but rather a lifestyle of constant escape to the Divine, and one who lives in this way is in a place of constant joy. Is there any joy greater than release from captivity, from a deep dark dungeon to the splendid place of the King? The method here then is one of escape, of freeing the soul without reckoning with its dark surroundings, and it has precedence in the method of the Exodus from Egypt.