It is obvious that with practice one can get better at, or gain mastery in, anything.
Samadhi, and any other state of consciousness, is no different from anything else.
The more you practice the closer you get to your goal, and the better at practicing you get, the faster you get to your goal.
Always aim to hold your pose, your breath, your concentration, your compassion, your kindness, and so forth, a little bit longer than you think you can each time that you practice.
“Yoga cannot provide a cure for life, but it does present a proven method for coping with it.”
-From The Teachings of Swami Sivananda Saraswati
As an effective science of the mind, body, and spirit, Yoga has many benefits, the primary one being that it creates balance within us, and in all areas of our lives, in order to enable us to be the best that we can be in our lifetime.
Yoga, all aspects of the practice, and not just Asanas (posing and stretching), is a tool for optimal living.
The practice is supported by a wide range of techniques that are easily integrated into our lives, and it is free to get started, plus everyone already has everything that they need in order to succeed.
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