The physical world consists of polarities : Masculine and Feminine, Yin and Yang, Right brain and Left brain and so on. The longing to find union of polarities is finding expression through ambition, conquest, love, sex and yoga.
Yoga means union. Simplest form of yoga is to put your hands together in Namaskar. Namaskar brings harmony between two polarities.
Put your hands together in Namaskar and look upon something or someone with loving attention. In 3 to 5 minutes, you will begin to harmonise.
Namaskar yourself into peace. Namaskar yourself into love. Namaskar yourself into union.
May you unfold your being with folded hands : Sadhguru