Despite being Lord Vishnu's avatar, Rama needed a guru like any ordinary person. The four brothers were bright and virtuous. In a short time, they studied the Shastras, Puranas, Vedas, and other topics and became well-versed in archery. Of the four princes, Rama was the most accomplished.
Maharshi Vashishtha, an embodiment of knowledge and sacrifice, used to meditate for a long time at Brahmamuhurta (two to three hours before sunrise). His mind was serene, like Ganga water. Even after Sage Vishwamitra burned Maharshi Vashisht's hundred sons to ashes, Vashishtha bore no animosity to Vishwamitra. Once, when Maharshi Vashishtha was conversing with his wife, Arundhati, the latter exclaimed, "Look how clear the moonlight is!" Maharshi Vashishtha replied, "Undoubtedly, but it is not as bright or pure as Vishwamitra's spiritual radiance." Maharshi Vashishtha bore no ill will even to people who had wronged him. Coincidentally, Vishwamitra was eavesdropping on this conversation between the Maharshi and his wife. Upon hearing the Maharshi praise him, he was filled with guilt and remorse. He fell at the Maharshi's feet and begged for forgiveness. After this incident, the two became close friends with great respect for each other.
Vashishtha's teachings are recorded in a text called Yogavashishtha, a collection of invaluable spiritual knowledge. Due to his teachings, the reputation of Ayodhya and Emperor Dasharatha spread worldwide. He also emphasized to the princes the moral responsibility of a king, saying that a king goes to hell after death if his subjects are unhappy. This applies to rulers of all eras.
In the olden days, a man's life was divided into four ashramas (stages): Brahmacharya (celibacy), Grihastha (householder), Vanaprastha (retiring to forest), and Sanyasa (renunciation). During the Brahmacharya ashrama, a student sincerely gains knowledge of all subjects under the guru's guidance and away from home at the guru's ashram. Under Guru Vashishtha's guidance, the four princes finished their duties at this stage and were ready to return to the palace of Ayodhya.
Vashishtha informed Emperor Dasharatha that the princes' education was completed and that they should be recalled to the palace. The Emperor then sent Sumantra to bring the princes back. When Sumantra reached the ashram, he respectfully greeted Guru Vashishtha and, after inquiring about the welfare of Emperor Dasharatha, the queens, and the subjects, brought the four princes back to the palace.
Before returning to Ayodhya, Rama, Lakshmana, Bharata, and Shatrughn touched their guru's feet and thanked him for their physical, mental, intellectual, and spiritual development. The guru hugged the princes and blessed them so they may gain success in life. He then commanded the princes to get ready to return to the palace at Ayodhya. Although the princes were sad to leave their beloved and intelligent guru, they managed to keep their emotions under control. Vashishtha had taught them valuable life skills and made them successful. The four brothers became experts at keeping their minds under control. Sumantra had brought them princely clothes from the palace. The four princes wore princely garments, crowns, and other specially made jewelry. After touching the Guru's feet, the princes climbed onto the chariot and began traveling toward Ayodhya.
The brothers were excited to reunite with their father, mothers, and the residents of Ayodhya. The city's residents were overjoyed when they saw Rama, Lakshmana, Bharata, and Shatrughna. The palace and streets of Ayodhya were filled with celebrations. The four princes arrived at the palace gate on a chariot. Ram, the eldest prince, was the first to step off the chariot, followed by his three brothers. This was a significant occasion, as the princes were returning to the palace and transitioning to the next stage of their lives after completing an important chapter. Everyone, including the king, held the guru in high regard. The four princes were so virtuous and talented that they made their guru proud.