Plato likened us all to charioteers trying to control two wayward horses. The steeds represent the competing wants and desires that constantly pull us off course and away from a happier life.

Yale professor Tamar Gendler joins Dr Laurie Santos to examine how the ancient Greek philosopher didn't only diagnose the internal tensions we all face, but also offered a cure. The horses can be made to pull in the direction you command... but each must be coaxed in the right way.