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This book is the most accessible and easily digestible training course on the theory and practice of Raja Yoga, and at the same time it is the most authoritative manual ever published. The book is fundamentally deeply practical: the author not only gives the methods for doing the exercises, but also indicates the results that should be achieved by the students by following these methods, in addition, he takes care of the correct understanding of the students of each issue. The book is supplied with a sufficient number of illustrations for self-study. Its purpose is to give practical guidance to both those who are striving for the development of spiritual perception and those who would like to improve their health. Dr. Ramamurthy Mishra wrote his `Foundations of Yoga` as a guide for the students of the schools of Yoga, which he personally supervised: in these schools, every student learns Yoga practically from the very first lesson.