Asana is to be seated in a position which is firm but relaxed
Book Two Sadhana Pada:
"The Seer is nothing but the power of seeing which, although pure, appears to see through the mind."Through yogic thinking we can see the entire humanity as our own. we can embrace all without any exceptions. Even the worst sinner will be loved by us because we ourselves were once sinners. Todays sinner is tomorrows saint. We will never criticize a sinner if we realize that we were once in the same boat. Instead, we can give the so-called sinner a helping hand. if a baby dirties its diaper, you dont criticize it. If you wish to criticize it you have no business being with child.So yoga helps in every aspect of our lives, from the White House to the out house. It is not something to be experienced only after 60 years of practice, but something that can benefit everyone now.A translation by Sri Swami Satchidananda.