Yoga is the practice of connecting the human soul with the Supreme Soul, of connecting the latent Kundalini Sakti in the Muladhara Chakra with Siva in the Sahasrara Chakra. By tradition, all disciplines that aid in achieving this purpose are often referred to as Yoga.

According to Vedanta, the individual soul is encased in five sheaths: Annamaya Kosha (the gross body), Pranamaya Kosha (the vital sheath), Manomaya Kosha (the mind), Vijnanamaya Kosha (the intellect), and Anandamaya Kosha (the bliss-sheath or the ignorance that immediately veils the Self), and that the goal of life, namely Self-realization

When do we consider a part or organ of the body to be completely healthy? When we are unaware of the existence of the organ. When we are not sure that the ear exists, it is in great health; when there is suffering, we are aware of its existence. As a result, they must all be clean of afflictions in order to overcome the five sheaths. Yoga will assist you in this endeavor.

Hatha Yoga's purifying Kriyas and Asanas ensure that the body is well and free of illnesses. The vital sheath is revitalized by pranayama. The mind is strengthened by Pratyahara (withdrawing the mind's rays and preventing them from streaming outwards) and Dharana (concentration). Meditation allows the mind and instincts to come together in a harmonious way, and the Yogi's wisdom becomes intuitive. Through piercing the curtain of blindness, Samadhi illuminates the soul and exposes the Self. Yoga is the ideal system for all-around self-cultivation.

However, no one can embark on this glorious mission without first planning the ship. This is ensured by Yama-Niyama, or the canons of correct behavior. No one will advance in Sadhana if his senses are not under balance, if he is not honest, kind, caring, and pure. Many of his body's channels are leaking energy. His vital sheath has been weakened. His thoughts are entirely extroverted. He has a bland intellect. His spirit is engulfed in a thicket of darkness. Meditation is a pipe dream for such a man. 

As a result, I insist that all spiritual seekers do the following:

1. Participate in Nishkama Karma Yoga for self-purification and righteousness cultivation; and 

2. Do as many Japa as possible to receive His Grace.

The importance of these two—Karma Yoga and Bhakti Yoga—cannot be overstated.

Controlling the mind, concentrating the rays, and reflection become much easier until the senses are under control and the heart is purified. 

The aspirant should recall the two great watchwords of Sadhana: 

(a) Abhyasa (unwavering, extreme, unbroken, constant, and systematic practice), and 

(b) Vairagya (dispassion, aversion to all sensual pleasures, non-attachment to sense objects).

The aspirant's mind may continue to meditate to the degree that he or she improves in these two areas. Meditation will bring you pleasure. The mind will eagerly anticipate the mediation time.

When this disorder gets serious, the mind will be in a state of trance all of the time. When your hands are busy with the tasks of the day, your mind will be blissfully disconnected from the outside world, happily watching the play of the senses and sense-objects (Sakshi-Bhava). You are a perfected Yogi once you have reached this state. 

All you have to do is sit and close your eyes to overcome the five sheaths and unite with the Supreme Soul. Your acts will be in accordance with God's will. You would have superhuman intelligence, mind, and physical abilities. 

You'll never be drained, bored, or sad again. Your thoughts would have the ability to change people's lives. Your heart will be overflowing with people's kindness and devotion, and all of humanity will be drawn to you. You'll transform into a metaphysical magnet. As a Yogi, sage, and Jivanmukta, you will shine. You've been set up. This is the objective.

You may also want to read more about Kundalini Yoga here.