If one fails to remember and honor properly the ancestors of his family, he is subjected to sins. This is ‘Pitru Dosha’. In the current age, it is difficult to perform Pitru Karmas as prescribed in the Shastras. The easiest compensation and atonement to such accrued sins is the Chanting of Maha Mantra for two hours on their death anniversary and feeding the poor.

A pilgrimage to Kasi involves visiting ‘Sethu’ initially. This include visiting the temples -- Deva pattinam (Navabashanam), Uchikku Ugandha Vinayagar, Thirupullani (Dharba Sayanam), Rameswaram, Dhanushkodi and Gandamadana Parvatham. In Rameswaram, the darshan of 'Sethu Madhava Swami' has to be had.

One has to carry sand from here and travel to Allahabad and take a holy dip in the ‘Triveni Sangamam’ and put the sand there. Here one has to have the darshan of Lord 'Veni Mahdava'. This should be succeeded by visiting the Viswanatha temple in Kasi for a holy dip there and darshan of the Lord there. Lord Bindu Madhava's darshan has to be had here.

[Sethu Madhava, Veni Madhava and Bindu Madhava are three important Vishnu deities]

After performing the rites and rituals there, one should go to Gaya to offer ‘Pinda’ (Pinda Pradhanam) and have the darshan of Vishnu Padham. Water from the holy Ganges (Ganga Thirtham) should be collected and brought back.

Then one should go to Rameswaram again and perform abhishekam to Ramanatha Swami.

After the pilgrimage, ‘Ganga Puja’ should be done at home.

These are the procedures involved in Kasi Yatra.

Your understanding of the concept is incorrect. In normal cases, pithrus are not the form of the Atman. Death is only for the physical body. There is this austral body (‘sookshma sarira’) which leaves the physical body and enters the different lokas based on the merits and sins. This austral body is what we refer to, when we talk about the ‘Pithrus’. This body possesses a mind. Hence it does experience thirst and hunger, and happiness and sorrow as well.

Only in the case of a Jivan Mukta, they become one with the Atman (‘Atma swaroopa’).

Every action, from the minutest to the largest, happens according to the will and wish of Bhagavan Sri Krishna.

Still, even in our day-to-day life, as we travel in a bus, when someone offers us a seat, we immediately thank them.

Thus, for all the incidents in our life - mundane to major, we thank others to show our gratitude. The same holds good for our parents too.

Even if done at Gaya, one must do it regularly.