"How can I succeed in attacking my opponent?"
"... Don't intend to injure him."
Have your opponent opposed to the world harmonizing yourself in it; This is called "the way of Tang(Earth)", which is the right principle of every technique in Taekwondo. You can find everything of TAEKWONDO in this, so it is also the way of right thinking in Taekwondo. While the way of Haneul(Sky) is a principle focusing on the originally nondistinctive essence of Nature, the way of Tang(Earth) is focusing on the man's originally distinctive essence, yet both of them imply same, i.e. one thing.
Following the way of Tang can be considered in three dimensions, each of which is called respectively following <Sool(technique)> <Yae(art)> and <Do(principle)>. Everyone, however, should know that each of these is ultimately same with one another as different aspects of a thing, so they are just distinctions of what is not distinctive.
Then, what is following
Although your opponent's will always moves him it is your will that determines your opponent's. Man's motion should have its own will first, then it can have its power. While power is such a sharp and hard thing as able to break a rock, the will is something soft so that it changes and applies itself to the shape of the world. Accordingly the soft can surpass the hard.
That your will controls everything
and that everything is expression of your mind so that
These various changes and harmonies
are possible only because there is what does not change at all from beginning
to end despite changes of everything, and this nochanging is the root of everything
under each change, the name of which is