God the Parent (Tenri-O-no-Mikoto) created humanity from muddy loam at the place called Jiba (now Tenri City). Creation involved a series of divine models and providences. God created humans to live joyously — the 'Joyous Life' is the original divine intention.

The Ofudesaki (scripture) and Mikagura-uta (songs). Eight mental 'dusts' to sweep away: miserliness, covetousness, hatred, self-love, grudge-bearing, anger, greed, arrogance.

To achieve the Joyous Life (Yokigurashi) — a world where all people help and care for one another, living in harmony with God the Parent's intention. Individual salvation (tasuke) through helping others and clearing mental dust.

Suffering results from 'mental dust' — the eight negative tendencies that cloud the mind. Also from causality (innen) — accumulated effects of past actions across lifetimes. God the Parent desires only joy for humanity; suffering is a deviation from the divine plan.

No apocalyptic eschatology. The goal is to establish the Joyous Life in the present world. Souls are reborn continuously (reincarnation through causality/innen). Jiba (Tenri City) is the sacred center where the Kanrodai pillar marks the origin of creation. The world will gradually approach the Joyous Life.