Yoga Vasistha was written by the great poet Valmiki in the form of a dialogue between Sage Vasistha and his pupil young Prince Rama. It gives a magnificently detailed exposition of the subtleties and insights of Yoga Vedanta through didactic instruction, answers to doubts, parables and stories within stories. Nirvana Prakarana Purvardha 120-121. Prajapati Manu continues to impart teachings to Ikshwaku. Donations are gratefully accepted. Thank you for your support.