“When we teach the headstand,
we first teach preparation,
then we teach the counterpose Sarvāṅgāsana
which in itself is a major pose that demands
its own counterpose Bhujaṅgāsana.
It is all very systematic.
Planning means to go gradually, to prepare,
and then to compensate.”
– TKV Desikachar Religiousness in Yoga Chapter Four Pages 53-54