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In addition, yoga-related terms like pranayama and samadhi occur repeatedly in Bhagavad-Gita. Ancient Indian rishis understood that performing Raja-yoga (procedure of concentration to liberate soul or atma from the bondage of maya into paramatma) always need a healthy body – “Sharirmadyam, khalu dharma sadhanam.” So they developed “Hatha yoga,” which includes asana, mudra, pranayama ...
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