it's like what lenas said, harishima and madara just have the super dna but no soul shit, reincarnation doesn't have to jump right after you die... more rather, you're reincarnated when you find a match (or someone worthy) of being the past you. so it took like 3 or 4 generations for ashura, the older brother is indra... this is pretty much all taken from hindu buddhist shit, i remember this from watching tenku senki shurato. ashura are the good gods, indrha is the leader of the evil gods, all dealing with reincarnation shit, at the end of this anime of the two best friends, one dies but spiritually merges with the other to kill the super bad guy, this is where he's gonna steal most of the plot from, this anime!