Stepping up his offensive against the Congress, he asked the party to "repent" for what it has not done in the last 60 years.
Launching a village self governance campaign at Ambedkar's birthplace here, Modi made a strong pro-poor and pro-village pitch while underlining the need to strengthen the rural economy to boost the country's development.
Later, addressing a rally, Modi, who has been attacked by Congress for trying to "approporiate" national icons, hit back asking why successive Congress governments had not developed the five places (panchteerth) associated with Ambedkar during their tenure.
Listing a number of measures that his government is taking to carry forward the vision of Ambedkar including on maritime projects and the empowerment of weaker sections, Modi said,"for so many years, the vision of Ambedkar was undermined."
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On his government's decision to construct a memorial at 26 Alipur Road in Delhi, which was the last home of Ambedkar, the Prime Minister asked the Congress why did it not do so in the last six decades.
"Why did you not do it in the last 60 years? When we are doing it, you are getting uneasy. You should repent over why you did not do this all these years," he said.
"Some people have been calling themselves the messiah of the poor for the last six decades. The account of what they have done for the poor in last 60 years is shocking even as they keep talking of the poor day and night," Modi said as he highlighted the steps taken by his government in the last two years like giving LPG connection to the poor and Jan Dhan Yojana.
With West Bengal Assembly elections underway, Modi also referred to Saradha chit fund scam in which the names of some Trinamool Congress leaders have figured as he spoke about challenges before the poor in saving their money.
"Some people have been calling themselves the messiah
of the poor for the last six decades. The account of what they have done for the poor in last 60 years is shocking even as they keep talking of the poor day and night," Modi said.
"Some people are troubled that why we are taking Baba Saheb's name. We have taken refuge in Baba Saheb because Ambedkar advocated social unity, social justice and social harmony. That is why we are following him," Modi said.
Modi accused the Congress of playing vote bank politics to divide the society.
"They portrayed themselves as the Messiah of poor. What have they done? he said without naming Congress.
He said that Ambedkar faced a lot of hardship, trial and tribulations but accepted them and marched ahead without feeling of vengeance.
Terming Ambedkar as a "great human being", Modi said despite all odds, he drafted the constitution without any prejudice.
Ambedkar being highly educated could have settled abroad but he returned to India and fought the evils.
He also highlighted the steps taken by his government in the last two years like giving LPG connection to the poor and Jan Dhan Yojana.
Modi, whose government has often been accused by Congress of having a corporate bias, said India's development will not happen through 5 or 50 cities and industrialists and foundation of villages will have to be strengthened for sustainable development. He reaffirmed his commitment to doubling the farmers income by 2022.
Modi is the first Prime Minister to visit Ambedkar's birthplace, Chief Minister Shivraj Singh Chouhan said.
Ambedkar was born in the cantonment town of Mhow on April 14, 1891 and the state government has built a grand memorial to him at his birth place in Kali Paltan area.
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Earlier, on his arrival here via Varanasi, Modi laid the foundation of the 51km-long Tadighat-Ghazipur-Mau rail tracks to be constructed at a cost of Rs 1,762 crore within three years. The section include a bridge over the river Ganga.
The Prime Minister honoured gram pradhans who have ensured savings at Post Office by 100 per cent of residents of their respective areas and presented passbooks of Sukanya Samriddhi accounts to five girls.