Yoga Nidra has its roots in the tantric tradition. The ancient technique was adapted by the yoga master Swami Satyananda Saraswati to the needs of contemporary western people. It is usually practiced in Savasana, lying on your back. It is said that half an hour of yoga nidra is equivalent to about four hours of sleep.
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Yoga Nidra practice with Gloria Gaertig
Dr. Adrian Weingart