Yoga, translated, is the cessation of thought waves in the mind. When I read somewhere recently "don't let your mind get in the way of your yoga", I remembered this literal translation of the word yoga. I love this definition because we literally do need to stop our minds from thinking too much.
The mind will make you fear. The mind will make you doubt. The mind will try to convince you to do all sorts of things. The stopping of these thought waves is the first step in taking the control back from your mind.
I like this image below of yoga as a tree. All of Patanjali's eight limbs are represented. Each its own branch.
Balanced.
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