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All humans are yogis by birth. With time however, whether your body prefers to lie as a couch potato or slouch on your chair, your body moves in space in some form or another. Only problem with these postures is that in the long run, your body will develop all sorts of aches and malfunctions (not to mention your mind too). So what defines asana?
In the Yoga Sutras, Patanjali states: “sthira-sukham asanam” -Chapter II, v. 46
Living enlightened master and yogi by birth Paramahamsa Nithyananda translates: “Asanas are steady and comfortable body postures to tune oneself with the Cosmos.”
Sthira is usually translated as "steady". Actually, in a deeper way, sthira does not only mean steady, it means, “which cannot be lost, which has become part of your bio-memory." So if you can only hold a posture for few seconds, just for the "click", definitely sthira has not happened yet. You should be able to get in a posture almost casually like a child, breathing slowly and deeply, totally centred within.
Sukham, which is commonly translated as "comfortable", is not about cushion luxury! You should be able to be in a posture and feel its effect in your body throughout the day. Every joint should be oozing with nectar, like a sweet feeling of lightness. Anyone who has practiced hatha yoga for some time will know exactly how that feels, like floating out of the hatha yoga class.
You can achieve the qualities of sthira and sukham by constant practice, and increasing your ability to stay in particular asanas.
Of course, it is essential to know your limits and always be friendly with yourself. Integrity and authenticity in practice means to have both passion and patience to work with your body. And one day, before you know it, you are just there sitting in full lotus, padmasana, totally at ease, enjoying the space of yoga.