"Calming the mind is yoga, not just standing on the head." - Swami Satchidananda
Yoga teaches us to be aware of the present moment. Just by that, when we become fully present, all our emotional, physical, and mental obstacles appear as what they are - finite issues compared to the infinite beauty of the Self.
Physical wellbeing has a positive effect on our emotions. The right mindset can help us to overcome physical limitation. When we are feeling physically strong and healthy, our mental health improves as well, allowing us to better cope with challenges that life throws at us, and thus living more joyfully.
In a similar way the eight limbs of yoga build upon each other. They include applied ethics, breathing techniques, asana, meditation, and selfless service. Even if you practice just one of them, you are already on the path towards liberation. Practiced together they create balanced emotions, a strong body, and a calm mind - and help us to fulfill our lives purpose.