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Daniel Simpson, author of The Truth of Yoga: A Comprehensive Guide to Yoga's History, Texts, Philosophy, and Practices, talks with J about the origins of physical practice and what connects modern yoga to its ancient roots. They discuss the tendency of historical figures to invent things but still present them as being very old, influences that led to a modern postural approach, Hatha Yoga Pradipika, tantra, distinguishing Nivritti and Pravritti from duality and nonduality, and defining yoga by questioning the how and why more than the what.