When Swami Satchidananda first arrived in the West in 1966, Yoga was largely unknown here. There were no classes at the local YMCA. Health food stores contained only bottles of vitamin supplements and photos of body builders. Few understood the meaning of karma. When most people thought of a yogi, they remembered a popular cartoon man sleeping on a bed of nails. All this changed when Swami Satchidananda arrived in the West. The distinctive teachings...