Everything within the universe is a vibrating phenomena.
Thus everything within our body should be the same: vibrating, radiating and in movement.
But beyond that, Yoga is an amazing spiritual journey. A discovery of your self and the limits you are bound in, and with the final goal to reunite with the eternal and divine - moksha unconditioned. (No worry, dear atheists and non-atheists. Yoga won't change your perception of faith, rather it will lead you to the inevitable truth, that any kind of belief systems are a hindrance to freedom and joy in life).
Yoga developed over more than 4000 years out of ascetic practices and various religious traditions, each of it adding new elements and enriching the quality of the discipline.
In the Hatha Yoga tradition, elements of Patanjali's Yoga Sutras (Raja Yoga) were combined with posture and breathing exercises, with the main focus on the purification of the physical body, which leads to the purification of the mind (ha/sun), and the prana (tha/moon), our vital energy. Sometimes it is referred to as the psycho-physical cleansing Yoga. And it is the most common type of Yoga practiced all over the world.
Any novice should start here - simple and humble Hatha Yoga routine - before going to Rishikeshs' yoga schools, where gurus (teachers) very often teach advanced postures, (because the schools are filled if there is some spectacular yoga work going on. Full class = full pocket of money, do you dig it), which are just impossible to follow or accomplish. That is why I'd like to post this little reminder: If you're body is not "prepared" in the right way, advanced Yoga postures will be useless and can harm the physical body.
Basic asana (posture) and pranayama (breathing) work helps you developing the muscles, where needed, and the right flexibility and the right awareness for your body. In the end it is once again all about "feeling" and sensing of what is going on inside your body. Eventually trapped prana can be liberated again and follow its natural flow throughout the energy systems of the body (nadi), restoring imbalances within the organs or bodily systems. Yoga, which is done mindfully, can indeed bring benefits to all essential body functions and and alleviate symptoms of psychological nature like depression, insomnia, pain, and fatigue.
Peace love and an ocean of joy!!!

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