Judith Hanson Lasater wrote this for Yoga Journal, and I think she did a great job of demystifying the last three limbs of Patanjali’s yoga.

I particularly like her contrast of the filter or grid that we ordinarily perceive reality through and the direct experience of reality — which no matter how it happens, through lovemaking or being alone in the woods or sitting on a zafu — always wakes us up to being more alive.

http://www.yogajournal.com/wisdom/461