According to Advaita Vedanta, the ultimate goal of human existence is to realize the oneness of the self (Atman) and ultimate reality (Brahman). This realization is known as "Brahmanubhava" or the direct experience of Brahman. It is believed that this experience leads to the ultimate liberation from the cycle of birth and death.

Contrary to popular belief, this experience is not limited to after death or in a state of deep meditation. Advaita Vedanta teaches that one can experience Brahman while still living in the physical world. In fact, it is considered the highest form of spiritual attainment.

The physical world is often seen as a distraction or an illusion in Advaita Vedanta, but it is also considered a means to realize Brahman. The human body and mind are seen as vehicles for the self to experience the world and ultimately realize its true nature. Therefore, one does not have to renounce the world or retreat to a cave to experience Brahman.

The experience of Brahman is not something that can be put into words or fully understood by the mind. It is a direct experience that transcends the limitations of the physical world and the individual self. It is described as a state of pure consciousness, beyond all dualities and limitations.

In order to experience Brahman, one must first understand the concept of Maya, the illusion of the physical world. Maya is seen as the cause of our attachment to the material world and our identification with the individual self. Through self-inquiry and the practice of detachment, one can gradually overcome Maya and realize the true nature of the self.

The path to experiencing Brahman is not an easy one, as it requires a deep understanding of the self and a constant effort to transcend the limitations of the mind. However, it is believed that with the guidance of a qualified teacher and sincere practice, one can attain the direct experience of Brahman.

In conclusion, according to Advaita Vedanta, it is possible to experience Brahman while living in the physical world. This experience is the ultimate goal of human existence and can lead to liberation from the cycle of birth and death. It requires a deep understanding of the self and a constant effort to transcend the limitations of the mind. As the Upanishads say, "Tat Tvam Asi" - You are That.