Yoga, as classically formulated in Patañjali’s Yoga-Sūtra, has far too often been conceived as leading to a freedom from the world, emphasizing renunciation, asceticism, disengagement, and transcendence of the body, mind, and world. Yet, from another perspective, freedom or spiritual liberation can be understood more inclusively as being in and for the world, thus supporting a life-affirming approach, both transcendent and immanent, that challenges us to an enriched, relational humanity whereby the world is made a better place. Yoga, it is suggested, can culminate in a balanced, embodied integration of life as a whole that incorporates a clarity of awareness with the integrity of being and action.