स्थिरसुखमास्न्म ॥२.४६॥ Sthira-sukham-asanam (Yoga Sutra 2:46) Posture is that which is firm and pleasant.
Dr. Jayadeva says an Asana is defined as a body position that is steady and comfortable. Actually, this is the only explanation given of the Asanas. Patanjali does not elaborate on the different types of postures or their advantages. Patanjali makes no difference or distinction between Asanas. One may select one Asana or one may select many Asanas.
Swami Vivekananda says that until you can get a firm seat, you cannot practise breathing exercises and other exercises. Swamiji further clarifies that firmness of seat means that you do not feel the body at all. In the ordinary way, you will find that as soon as you sit for a few minutes, all sorts of disturbances come into the body, but when you have gone beyond the idea of a concrete body, you will lose all sense of the body. You will feel neither pleasure nor pain. And when you take your body up again, it will feel so rested. It is the only perfect rest that you can give to the body. When you have succeeded in conquering the body and keeping it firm, your practise will remain firm, but while you are disturbed by the body, your nerves become disturbed and you cannot concentrate the mind.
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