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The Yoga Sutras of Patanjali - Book 2 - The Steps to Union
47. Steadiness and ease of posture is to be achieved through persistent slight effort and through the concentration of the mind upon the infinite.

This covers the two aspects which in meditation produce difficulty, the comfort of the body and the control of the mind. It is noteworthy that the effort to attain forgetfulness of the physical body through correct posture is brought about through steady gentle persistent practise, rather than through the violent forcing of the body into postures and attitudes unaccustomed and uncomfortable. When this can be done and when the mind can be so engrossed upon a consideration of the things of the soul, then steadiness and ease characterize the man on the physical plane. He is forgetful of the physical vehicle and hence can concentrate the mind, and his concentration of the mind is then so one-pointed that thought of the body becomes impossible.

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