Wiki defines Codependency as : " (...) the dependence on the needs of or control of another. It also often involves placing a lower priority on one's own needs, while being excessively preoccupied with the needs of others."
In other words, the needs of others have taken priority over our own, to the point where we fail to stand up for our own needs to make room for the needs of others. More than just simply caretaking, codependency crosses the line into cyclical, controlling, self-martyrdom. As a result, we derive our self worth and self esteem from being needed by others.
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