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Patanjali establishes 2 key foundations to the journey into Yoga: 1. Practice: Without a consistent inner work, there is no change happening. All that has been learned, must be unlearned. All that has been done unconsciously to oneself, has to be undone. 2. Non-attachment: To remain at distance from the object of desire, ambition, will so that you remain the master and not the object keeping control over you all the time.