Richard Miller, founder of iRest Yoga Nidra, co-founder of The International Association of Yoga Therapy and founding editor of the professional Journal of IAYT, talks with J about his many years of study and the work he has done integrating teachings for others. They discuss nondual philosophy, his relationship to TKV Desikachar, his use of Yoga Nidra in the military, making sense of the scandals, and the core principles at work in the process of healing through yoga. This episode is sponsored by Yogalifestyle.com and Karmasoft.