Through this poem Yoga Taravali Adi Sankara poetically and metaphorically summarizes the highest teachings of yoga. A must for every yoga enthusiast, this text will not only provide deep insights into the teachings of yoga, but will also indicate Adi Sankara's mastery over the ancient discipline of yoga. This handy book is inspired by the interpretations of T Krishnamacharya, who considered Yoga Taravali one of the best poems on the message of yoga. This work includes the original text in Sanskrit with Roman transliteration and translation and commentary by TKV Desikachar, one of the most respected yoga masters of our times, and his student Kausthub Desikachar. The lucid and simple presentation makes this book a handy companion not just to every enthusiast of yoga but also to everyone who follows Adi Sankara\'s teachings.