Asramavasa Parva describes how the old king Dhritarashtra, the father of Duryodhana, leaves the royal palace to live the life of an ascetic towards the end of his life. Pandava's mother Kunti and Vidura who was like father to the Pandavas accompanied the old king to live in the forest. Once during a vist, Yudhisthira saw the last moments of Vidura, seated in Yoga. It is believed that the bodies of Dhritarashtra, Kunti and Vidura burned in a forest fire. In fact, after that forest fire, no body had seen them.
Yudhisthira finds his father-figure Vidura in his last moments seated in Yoga.