In the Bhagvad Gita, Yoga is related to sacrifice. Yoga is a work, but a work where physical action itself becomes a "Sadhana" which means a spiritual search. Through Yoga, the body itself becomes a way of seeing, or "Darshana". The body is not just something material, it is also self conscious. It is through the body that we come to realize an inner Presence or Atma.
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