There are very few human beings who receive the truth, complete and staggering, by instant illumination. Most of them acquire it fragment by fragment, on a small scale, by successive developments, cellularly, like a laborious mosaic.

         —ANAIS NIN

Healing what ails us, whether physical injury or existential angst, is a leitmotif of yoga dating to ancient times. Today, yoga therapy is emerging from the shadows of intensely vigorous, workout-oriented yoga, reaffirming the healthy transformative potential of yoga. This growing trend might be associated with “leading edge baby boomers,” many of whom caught the largely countercultural 60s yoga wave, but now at an average of 70 years-old are a bit more frail. There’s also growing awareness that yoga can help with everything from alcoholism and PTSD to sprained knees and injured wrists.

Curiously, yoga chikitsa – Sanskrit for yoga therapy – can be a confusing concept. It is the term coined by Tirumalai Krishnamacharya to describe...