Home Affairs Minister K Shanmugam also said that encouraging greater integration in the multi-racial community is "one of the key tasks for the Government".
"We must be good Muslims, good Hindus, good Christians, good Buddhists. We must be free to practise our religion. But we must also interact with each other, as citizens of our country, as human beings," the minister was quoted as saying by the Channel News Asia.
Singapore has had less success rehabilitating self-radicalised individuals than Jemmah Islamiyah (JI) detainees, said Shanmugam at a retreat of the Religious Rehabilitation Group (RRG).
This compares with an 88 per cent rehabilitation success rate for JI detainees, he pointed out.
"Our success with self-radicalised persons is not as good as our success with the original JI detainees. For some reason, for the self-radicalised, the rehabilitation is still in progress," Shanmugam said, adding that there are more "complex psychological and social issues for this group".
Additionally, since "the phenomenon" of self-radicalisation was noticed in 2007, the problem has gotten worse, with the emergence of the Islamic State in 2014, Shanmugam said.
"But we will not give up, we will continue to work to find the right approach for the self-radicalised people."
Shanmugam said that one trend that is "worrying" is that many self-radicalised individuals caught are getting younger.
Since 2015, five radicalised teenagers aged between 17 and 19 have been picked up, he said.
"We have to rehabilitate them quickly and get them back, to give them the opportunities," he added.
He said younger self-radicalised individuals tend to rely heavily on the Internet and social media for information, including religious teachings.
Shanmugam also said that the Government needs to encourage greater integration to prevent radicalisation.
"Somebody doesn't wake up one morning ... and say, 'Today I am going to go and kill people'. There is a process. It used to be longer, now sometimes it is shorter. Sometimes it is a matter of a month, a few weeks, sometimes even less than that," he said.
There are certain conditions that contribute to the problem, including exclusivism.
If they are pushed towards a "more exclusivist approach, a more segregationist approach, a more divisive approach", that sets the stage, the framework and the foundation for them to become more and more radicalised later on, Shanmugam said.
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