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The Yoga is utter freedom. It is also the royal road to Truth in all its complexity and completeness.
At the Feet of The Mother
Essays on Yoga
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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.
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... we look at it as part of a grand Divine plan whose original purpose is not reward and punishment but to objectify Himself through the Creation.
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... the human mind is unable to rise to the vastness of the Divine and hence is quick to reduce the Lord into small and narrow formulas.