What is meaning and origin of “Asato Ma Sadgamaya (असतो मा सद्गमय)” ?

This mantra is taken from Brihadaranyaka Upanishad 1.3.28

असतो मा सद्गमय ।
तमसो मा ज्योतिर्गमय ।
मृत्योर्माऽमृतं गमय ॥

English Meaning 

From evil lead me to good, from darkness lead me to light, from death lead me to immortality.

Hindi Meaning 

मुझे असत्य से सत्य की ओर ले चलो, मुझे अन्धकार से प्रकाश की ओर ले चलो, मुझे मृत्यु से अमरता की ओर ले चलो॥

The  ॐ (oṃ) at the beginning and ॐ शान्तिः शान्तिः शान्तिः ॥ in the fourth line, they are been added for recitation and not present in the Upanishad.

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