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Sri Aurobindo: 'God and Titan, Deva and Asura, are indeed close kin in their differences... '
At the Feet of The Mother
Essays on Yoga
... a body becomes the field of the Yoga joining the two extreme poles of consciousness, the material and the spiritual, reconciling their opposition in a fulfilment of the Divine Intention
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The Yoga is utter freedom. It is also the royal road to Truth in all its complexity and completeness.
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Yoga takes place in two modes, consciously or unconsciously.
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"What is needed is the dual action of certain powers below and above."
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Coming back to the three main elements or consenting parties as Sri Aurobindo puts it.
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In the Srimad Bhagavad Gita Sri Krishna explains to Arjuna that he gave the ancient Yoga first to Vivaswan, the Sun-God.
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Over a hundred years back at the turn of the previous century, Sri Aurobindo wrote in a prophetic vein about the important place that yoga was going to take.