The meaning of “desire” in Confucianism is various. It means not only a physiological need or an animal instinct, but also human feelings or consciousness. Anyway, the desire had been discussed on a prerequisite for human beings, and the Goal of Confucianism is to unite real human beings with the Ultimate. Therefore, human nature and reality are the key point of Confucian desire theory. What all of Confucianists are wary of is that not desire itself but selfish fulfillment. Because desire should be controlled, not terminated. Moreover, it is not the counterpart of Ultimate Principles and Rules, but the distortion of essential reality. Universality should be limited for realizing, so one’s reality is the limited universality. That is, desire is the other side of realizing Universality. Human being can recover the distortion by awakening. Desire without distortion is no more desire, it becomes the realization of Ultimate Principles and Rules.Confucianism pursues harmony of real humanity with intrinsic Ultimate. Individual freedom can be harmonize with social norm in this vein. Pre-China Confucianists believed human being can controll selfish desire, Neo-Confucianists in Sung Dynasty asserted the practice of piety(敬) for ultimate unity. Chosun Confucianism accepted the precedents and tried to actualize and realize. However, in spite of all these efforts, there exists intrinsic problem in that individual awakening is not to be compelled by others, and it cannot be public ownership. Thus, the education and enlightenment of people for awakening and self-control has intrinsic limits. It is a theme that today religion and education should be solve.