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Swami Saradananda, author of Sitting Comfortably: Preparing the Mind and Body for Peaceful Meditation, talks with J about the Haṭha Yoga Pradīpikā. They discuss Swami Saradananda's departure from the Sivananda organization after 26 years, getting a masters degree in Traditions of Yoga and Meditation, origins of the sun salutation and other misconceptions about Hatha Yoga, the difference between a full-body mudra and an asana, the purpose of kriyas and raja yoga, meditation vs relaxation, and the experience of samadhi.