“The experience known as Sthira Sukham Āsanam,
described in Yoga Sūtra Chapter Two verse 46,
arises as a fruit of Yoga Sūtra Chapter Two verse 47,
from melding the mastery of outer stillness in the world,
described as Prayatna Śaithilya, or relaxation of continued effort,
with the mystery of inner openness to the beyond,
described as Ananta Samāpatti, or unity in the infinite.”
– Reflections on Yoga Sūtra Chapter Two verse 46

“There are simple postures for Prāṇāyāma and Dhyāna,
so that we can relax in the body and not be distracted by it.
There are challenging postures,
to enable us to master our bodies and for young people who
will be engaged by the performance aspect of the posture.
There are also corrective postures.”
– TKV Desikachar England 1992

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The Viniyoga of Āsana Part 1 of 15 – Āsana according to Haṭha and Rāja