One of the five yamas (restraints) - which are practices recommended for practitioners of yoga - Aparigraha is the practice of non-grasping. This could be said in many ways... simplicity, not taking too much, not hoarding wealth or even the Buddhist AND Franciscan practices of non-possession.
The phyiscal practice focuses mainly on twisting. In particular, opening the outer hip/it band area in order to access certain types of twists. The focal asana here is eka pada koundinyasana (the twisty one) but you can always skip whatever you need to to make the practice right for you.
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