"Yoga is a practice which empowers one to overcome the obstacle of the mind, for the purpose of the self experiencing it's own true nature."  The sages of the Srimad Bhagavatam place their questions to the learned and saintly Suta Goswami, including how the people of our difficult age can find atma suprasidati, complete satisfaction of the self. (covers Srimad Bhagavatam 1.1.4-1.1.11)