Idol worship is not supported in Vedas or Upanishads.

Idol worship is the extension of Yagna which is allowed in Vedas. Agnihotra (अग्निहोत्र) is a Vedic yajña (ritual or sacrifice) performed in orthodox Hindu communities. It is mentioned in the Atharvaveda(11:7:9) and described in detail in the Yajurveda Samhita and the Shatapatha Brahmana (12:4:1). Vishnu has been equated to Yagya or Yagna ("sacrifice") as early as in the Vedas.[9] The commenter on the Vedas - Sayana describes Vishnu as the lord of yagya or the sacrificer himself. Even the Bhagvad Gita associates Vishnu to yagya (sacrifice). Performing sacrifices is considered to equivalent to pleasing Vishnu. The Vishnu Sahasranama ("Thousand names of Vishnu") also relates Yagya as a name of Vishnu.


If worshiping materially produced elements is a sin, then why Yagna is mentioned in Veda? In Yagna, God is worshiped by honoring fire and fire is the vehicle that takes the request to God. One thing we must understood that all the material elements of this world is produced by God's own energy. Samkhya philosophy informs us the effect exists in its material cause even before the effect is produced. If the effect does not exist in the cause (God), then that which was non-existent would be coming into existence out of nothing. Then you cannot call God as all-powerful or creator. 


So the conclusion is: This material world is created by His energy (moola prakriti) which was existing even before the creation started. Creation means the energy is simply emerged from Him and annihilation means that energy is simply merged with Him. However, God is ofcourse different from this energy which we are talking. Just like Sun and the sun-light. So Yagna or archana (loosely idol worship) is like mapping to a spiritual God using material elements. Also remember that the worship is offered not to the physical fire but to the presiding deity. The sacred smoke rising from the sacrificial fire, fully charged with the power of the sacred Vedic mantras, enters the clouds and purifies the rain tailing from them. The smoke of the sacrificial fire thus purifies the pollution in the atmosphere and on earth. It is also performed to please the demi-gods or to attain certain wishes. An essential element is the sacrificial fire - the divine Agni - into which oblations are poured, as everything that is offered into the fire is made to reach the demi-gods (who are using the power of the one and only God) by using mantras (of course, the mindset of the worshipper also matters). Among the items offered as oblations in the yagya include large quantities of ghee, milk, grains, cakes or soma. Yajna in itself is to be seen as the very essence of Veda. From the early times, the ritual was understood to be the link between the human and the Divine and a vehicle towards liberation. 



The 'Vishnu  Sukta' of the Rig Veda [1.154] says that the first and second of  Vishnu's  strides (those 
encompassing the  Prathvi/blackhole cum white hole and Vaayu/air/solar wind) are visible to 
men and the third is in the heights of heaven (sky). This last place is described as Vishnu's 
supreme abode in [RV 1.22.20]. Vishnu is not just the representation of the Surya/sun, as he
traverses in his strides both vertically and horizontally  in the universal”Intelligent 
Design” as Aakash, Antariksh and Prathivi/  blackhole cum white hole/our Earth.In hymns [R.V. 1.22.17, 1.154.3, 1.154.4] he strides across the Prathivi with three steps, in 
[R.V.6.49.13 , 7.100.3] strides across the earth three times and in [R,V,154.1, 1.155.5, 7.29.7, 
8.12.27, 8.15.9, 8.89.12, 10.113.2] he strides vertically, with the final step in the heavens.  


Rig Veda 1.22: ----           Indra                        Chhand: Trishtup
16) “May God protect the Prathivi belonging to seven places by stepping on it. 
17) “Vishnu acquires the universe by taking three steps.  His dusty foot covered the  entire 
universe. 
18) “He is the protector of all. No one is capable of deceiving him. He follows the rules (of 
trinities) and then takes three steps. 
19) “The prowess of Vishnu lies in the rules of all the forces of nature. He is the mate and 
friend of Indra. 
“All Devtaas of nature are integral parts of Vishnu”. [R.V. 1.40.11] 
20) “The eyes scan the sky systematically to recognize His Param Pada (supreme spiritual 
stature). 
21) “The conscious and wise praise and find His supreme and highest Pada in their heart and 
mind which is all pervading. 
                                   sssssssssssssssssssssssssssssss 
Sukta 1.154:--- .         Vishnu                        Chhand: Trishtup
1) “ I describe the valor of Vishnu. Vishnu measures the three Lokas with His three feet and 
makes the sky static. 
2) “The entire universe resides in His three feet. Hence this Sansaar/mortal world describes 
the valor of Vishnu alike the dangerous beasts living on mountains. 
3) “Vishnu who measures all by himself all the three  Lokas by his three feet of  Aakash 
Prathivi and all the Lokas is praised by many living beings… 
4) “The one who all by himself enveloped the threefold PratPrathivi, Aakash and all the Lokas
(black holes cum white holes), that Vishnu becomes immensely pleased by the indestructible 
freedom and associates Manushya with sweet Anna, etc, 
[“He envelopes the Triloki (three Lokas/ three worlds) all by Himself. Param Pada of   Vishnu
[Yajur Veda 6.5; 34.44] is in the center of  Amrit (elixir) and sweetness. It is full of  Tej
(radiations)”. (Also ref. Atharva Veda 7.26.1; Yajur Veda 5.18)] 
5) “I (Rishi Deerghatamah) desire the substratum and support of that extensive foot. It is here 
that those (Manushyas) who believe that Devatas are the owner derive blessings. Vishnu is our 
brother. His Param Pada is the center of sweetness (Elixir, etc.) 
6) “Hey  Indra and  Vishnu! We aspire for that place  where extremely powerful and 
accomplished forms of cows/Dhenu  (black holes cum white holes) reside. The praise worthy 
high Pada/residence is full of Tej/radiance. 
                                       000000000000000 
Sukta  1.155:--- .               Vishnu       Chhand: Trishtup, Jagati 1)  “Manushyas  are requested to prove their protector  Soma that is  Anna/particulate food

in 
favor of Vishnu and Indra. Both of them being the performers of the best deeds are never led 
away from their path.                                                                                                                                  
2) “Hey Indra and Vishnu! You are the Lord and deliver the fruits/ rewards for the work. The 
Soma is squeezed and is ready for serving you. You are capable of protecting from the arrows 
shot by the enemies and Vaani.  
3) “All the offerings of oblations to  Indra give strength to his Virya/ semen  (self-replicating 
quark gluon). Indra yields Anna (food of sub-atomic particles etc.) by the rains (in Antariksh 
and  Aakash  for  AakashPrathivi, according to the  Chhand  of the  Sukta). The  Virya / 
Raja/semen (quark gluon) is capable  of producing a son (sub-atomic particles by interactions 
and self- replication) at intense temperature at creation. From this tradition of sequential birth), 
the name Tritiya/grand son is derived. {Also refer R.V.1.164.16]}. The birth of  Pranies
depends on Indra and Vishnu.
4) “ We praise the seminal powers of the youthful  Vishnu  who is the lord of all and the 
protector from the enemies.  He crossed over all the people by  stepping his three feet for the 
sake of protecting the Lokas.
5) “ All the Pranies/living beings can see only the two Lokas. No one dare to reach the third 
Loka (heaven).  Marut Ganas who travel in Aakash are unable to reach it. 
6) “After being praised by great eulogies, Vishnu  rotated the wheel of Kaala/time by ninety 
degrees. The eulogizers keep searching by Dhyaana and express their gratitude.  
                                    ****************** 
Sukta 1.156 : ---            Vishnu                 Chhand:   Trishtup, Jagati. 
 1) “Hey  Vishnu! You are the creator/producer of waters, ex

emely glorious, protector and 
extensive and giver of happiness like a friend.  The learned persons eulogize you with great 
fervor.  The Yajamaan who offers Havies (material offered in Yagna), conducts the Yagna for 
you.  
2) “Those learned people who offer Havis in Yagna for the Swyambhu Vishnu and describes 
the Yagna, they wins the hearts of all. 
 3) “O Eulogizer! You know Vishnu who is  the womb of Nature. Enlighten him by your 
praiseworthy hymns. Hey Vishnu! We desire sympathy from you.  
4) “Vishnu inspires Maruts (storm God) and gets his wishes fulfilled by Varuna and Ashawini 
Kumars. It is Vishnu who acquires the wealth of day by Mitra (light radiations) and   removes 
darkness. 
5) “Indra is always keen to serve Vishnu, the lord of Triloki for gains in favor of Yajamaan.”
                                        ************* 
 Sukta 7.99: ---          Vishnu, IndraaVishnu        Chhand Trishtup
1) “Hey  Vishnu! No one knows your glory. I (Vashishtha) know your two  Lokas, but you 
alone know the Paraloka.
2) “Hey Vishnu! Those who are born on Prathivi/Our Earth and those who are yet to be born 
do not know your magnanimity; you have enveloped the Swarga Loka/heaven. 

3) “O DhyvaPrathivi (capable of moving here and there)! You become rich in food (subatomic particles/plasma) and cows (mini-white holes) for offering and fulfilling the wishes of 
the Stotas/eulogizers. Vishnu wields Antariksh in Aakash Prathivi in different ways.
4) “Indra and  Vishnu reveal the trinity of  Surya/sun, Agni (thermal energy), and  Usha 
(morning   twilight) and create heaven for Yajamaan. He destroyed the evil powers of   enemies 
(the inward forces operating in favor of the gravitational forces). 
5)  “Indra  and  Vishnu destroy 99 cities of  Shambar and hundred thousand fighters of 
Varchi.”  
6) “This eulogy will increase the powers of  Indra and Vishnu. Hey  Indra and Vishnu! This 
eulogy is pronounced for you in the battlefield, You increse the Anna/Particulate food for us. 
7) “Hey  Vishnu! I have praised you in  Yagna. You accept our offerings of  Havya. Let my 
praises encourage you and we will always follow your precepts. 
                                       ************** 
Sukta 7.100: ---    Vishnu                Chhanda: Trishtup. 
1) “One who offers  Havis (materials of oblations offered in  Yagna) and one who worships 
using Mantras/ hymns, that Manushya aspiring for wealth begets wealth immediately. 
2) “Hey Vishnu! Oblidge us with the wealth

we desire.  
3) “Vishnu lifted his three steps on the Prathivi and created expansive places (Lokas). The wise 
Vishnu as our Ishwar and is extremely brilliant. 
4) “Vishnu took the three steps with a view to provide residence and created expansuve place  
5) “Hey Vishnu! I (Rishi Vashishtha) will recite your various names. We Manushyas praise 
your wisdom. 
6) “Hey Vishnu! I have pronounced your best names. Are these appropriate?  On the battlefield 
you adopted various forms. Do not hide from us the forms you adopted. 
7) “Hey Vishnu! I am Vashatakaar for your sake. You accept Havies offered by me. May our 
eulogies energise you and you nourish us.  
                                          ************  
The same Veda also says he strode wide and created space in the cosmos for  Indra to fight 
Vratra. By his stride he said to have made  dwelling for men possible, the three being a 
symbolic representation of its all-encompassing nature. This all-enveloping nature and 
benevolence to men were to remain the enduring attributes of Vishnu. As the triple-strider he 
is known as Tri-vikrama and as Uru-krama for the strides were wide. 
 “Vishnu, Varuna, Mitra eulogize Indra: In the Maruts’ company have great delight”.[R.V. 
8:15:9] [R.V. 10:113:2] the wider stride, my comrade  Vishnu; make room,  Dyaus, for the 
leaping of the lightning.Let us slay Vratra, let us free the rivers let them flow at the command 
of Indra” [RV. 8.89.12] 
The characteristic of Vishnu as the supreme Devata appears in :[R.V.10.82.6]: The waters verily 
first retained the embryo in which all the Devataas were aggregated, single deposited on the 
navel of the unborn (creator), in which all beings abide. The reference to  the navel of the 
unborn is an indication of reference to Vishnu.Sukta 8.77: ---                Indra. 

There have been many commentaries written on the Vedanta-sutras by great acharyas as Ramanuja, Nimbarka, Vallabha, Madhva, and so on and all of them didn't say that the idol worship or many-god worship is not supported in Vedas. These Acharyas are not ordinary beings. They are prophets sent by God. It is verified in Garga Samhita: Visnuswami, Madhvacarya, Ramanuja and Nimbaditya will appear respectively as a portion of Vamana, Brahma (most beleive madhvacharya is the incarnation of Vayu), Ananta Sesha and Sanaka Kumara. They are divine beings who have intimate relationship with God and took birth as human to clarify the confusions present in the Vedas.


http://www.ramanuja.org/sri/Web/VedarthasangrahaOverview
http://www.indiadivine.org/audarya/sri-vaishnava-forum/449831-vedartha-sangraha-essence-veda.html
http://www.hinduwebsite.com/vedicsection/yajna.asp
www.vedism.in/yajna.htm
http://www.eaisai.com/baba/docs/yagna.html