In this excerpt from his thesis, Dr Ramesh Manocha discusses yoga.
While the immediate aim of yoga is positive psychological adjustment and good physical health in everyday life, the ultimate goal is the practical realisation of religious ideals of behaviour and the attainment of a state in which they are expressed spontaneously and effortlessly. This is called the sahaja state, a form of moksha in which the yogi attains the highest states of consciousness but nevertheless remains aware and involved with the mundane, although in a very different way.