Join Andrew in this far-reaching conversation with Richard Miller, as they talk about iRest, Yoga Nidra, lucid dreaming, sleep yoga, and the deep connection between lucid body and lucid mind.Richard is known for his “translational research,” which is all about bringing science and spiritual teachings into daily life. Dr. Miller shares his remarkable experience introducing meditation to the military, and helping veterans manage the damaging effects of combat. They also discuss a host of near enemies that surround spiritual practice, and the importance of the “market test” – how to sustain lucidity in all states, day or night.Richard then turns to the koshas, or “sheaths” of identity, and how problems arise because we have a wild case of mistaken identity. The conversation shifts to the role of effort on the path, and the magic of grace and love on the journey to awakening.The entire conversation circles around the real meaning of “nonduality,” and how this esoteric doctrine has vast exoteric applications. Joining psychology, neuroscience, and spirituality, this conversation covers vast terrain, all in the service of helping others and this world.—Richard C. Miller, PhD, is a clinical psychologist, author, researcher, yogic scholar and spiritual teacher who, for the past 47 years has devoted his life to integrating western psychology and neuroscience with the ancient wisdom teachings of Yoga, Tantra, Advaita, Taoism, and Buddhism. Developer of the research-based program, Integrative Restoration – iRest Yoga Nidra Meditation, Richard is founding president of the iRest Institute, cofounder of the International Association of Yoga Therapists, past founding president of the Institute for Spirituality and Psychology. He is author of iRest Meditation, The iRest Program for Healing PTSD and Yoga Nidra: The Meditative Heart of Yoga. Richard leads retreats and trainings internationally emphasizing enlightened living in daily life. www.irest.org.