The third limb of yoga is asana.
Asana simply means posture. It is the physical yoga that most people think of when they think of yoga.
Patanjali wrote in the Yoga Sutras:
"Asana is perfect firmness of body, steadiness of intelligence, and benevolence of spirit. Perfection in an asana is achieved when the effort to perform it becomes effortless and the infinite being within is reached. From then on, the sadhaka (practioner) is undisturbed by dualities between the body and mind, mind and soul."
Wow! All that from a pose that ties you up like a pretzel.
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