Synopsis Yoga is the process of harmonizing body, mind, and spirit with the ultimate goal of freeing oneself from samsara, the wheel of death and rebirth. Swami Rajarshi Muni writes with the authority of years of intensive study and practice, resulting in direct personal experience of the transcendental truths of yoga. over five thousand years ago, Indian sages first wrote of yoga in the Rig-Veda. The system of yoga was developed and passed down primarily through oral teachings from teacher to student in an unbroken tradition for thousands of years, much as it is to this day. These ancient teachings, however, were virtually unknown in the West until the twentieth century.