This comprehensive introduction presents the practice, theory and philosophy of Ashtanga Yoga. It describes in a short and concise way its historical development and philosophical background. The author not only studies the goals of Ashtanga yoga but looks equally closely at the theory and the environment of yoga practice. The detailed description of the ancient system of Ashtanga yoga, which dates back thousands of years, is compared with modern scientific findings. In the final chapter the author also discusses obstacles to the practice of yoga and how to overcome them.