Who hasn't heard of Yoga? It's a globally 'realized' means to improve health and attain 'moksha' (liberation from the cycle of birth and death; enlightenment is a stage before this). Dhyana(Meditation) and Pranayam(breath control) are just the two "post-classical era" principles of Yoga; the others being, Asanas (proper excercise as stated in Yoga Sutras of Patanjali), The Proper Diet(the right food), Shavasana (proper Relaxation). The goals of Yogic practice are varied for different people; The essence of Yoga really lies in attainment of 'moksha'.
In Hindu epics, like Yoga Sutras of Patanjali and Upanishads, there's a treatise on Yoga. In Chapter 6 of The Bhagavad Gita, Lord Krishna talks entirely about the practice of Yoga, as to how it is to be performed. The Lord says that he had taught it first to Surya Deva (Sun God) and then over a period of time, the wealth of Yogic knowledge had been lost and that he's preaching that to Prince Arjuna. The word 'Yoga' has been used by Lord Krishna to attribute it to union of Bhakti, Jnana and Karma in the Gita. There's a reference of different forms of Yoga: Karma Yoga (The practice of doing the 'right' thing, your Karma; sometimes, lying may be the right thing to do; you can attach things like selfless action here), Bhakti Yoga (The practice of devotion to God), Jnana Yoga ('Jnana' means knowledge; Knowledge about the Self, about your very being; 'Jnana' doesn't mean storing lot of info about a subject like Math, Art, or Politics or GK in your brain or being a topper or possessing a high IQ. All those could be means to attain the 'Jnana' which is the knowing of Kshetra(the field) plus the continuously evolving characteristics exhibited by you affecting the body and the Kshetragna (The owner of the field - The Lord present in you, the purce consciousness) in a very abstract sense - Ref: Chapter 13 of The Bhagavad Gita).
(Courtesy: Chapter 13, Bhagavad Gita) What is 'true' Knowledge (Jnana)? Translated version below:
"The Mahabhutas (the five great elements - earth, water, fire, air and aakash(ether)), the ego, the discriminating intelligence, the invisible (self), the ten senses (ears, skin, tongue, nose, hands, feet, mouth, anus, and the sexual organs) and the five objects of the senses (sound, taste, touch, smell and the forms). Desire, repulsion, happiness, sorrow, the aggregate, dynamic awareness, decisiveness, all these are briefly the various aspects of the kshetra (body). Without pride, without pomposity, absence of cruelty, tolerance, straight forwardness, service to Acharya (the spiritual master), cleanliness, stability (of the mind), self-control. Vairagya (absence of any feeling) towards the objects of the senses, absence of egoism, constant reflection of the pain and drawbacks inherent in the birth, death, old age and disease. Disinterested, detached from the son, wife, home and the like, always even minded in both desirable and undesirable conditions. Devoted to Me only without engaging in other yogas (activities) and evil pursuits, living in solitary places, disinterested in seeking the company of people. Always absorbed in self knowledge, engaged in the study of philosophy and spirituality ; all this is declared as 'true' Knowledge and the rest is ignorance."
Back to Yoga experience. Not long ago, I met Bhanu Prakash, a Yoga Champion (see his advanced yoga postures here) at a party hosted by Mahantesh, a mutual friend of ours. When I saw him, the glow and the tranquility on his face was so evident; As I engaged in a conversation with him, I could see an extra-ordinary level of synergy between his mind and body(actions, I mean) reflect in his speech. Trust me, he's been practising Yoga for the past 20 years and he's in his early thirties. A bliss, indeed!!!
Personally, as a part of my Sandhya Vandana activity during my school and college days, when I used to be disciplined about it, I used to perform Pranayama and Dhynana (meditation). If it doesn't sound like any self-boasting, let me tell you an incident that happened in school. A Yoga Teacher in school once asked all students to close their eyes and meditate. So did all. After we all opened our eyes, he pointed at me and announced that he could differentiate me and one more guy from a crowd of 500 students (not that I had 'mudras' on my face and I was the only one who had actually closed his eyes and had meditated ;-)), about 100 meters from the podium where he stood inside the auditorium. Such was the glow and tranquility on my face. I can definitely see the changes now when I can't be so disciplined about such a Yogic Practice and there are other factors as well. However, realizing the need of Yogic practice for my lifestyle, of late, I've been regular doing some asanas and pranayama.
After I perform Surya Namaskar (which I've been regularly doing of late :)), I can feel how revitalized I'll be. I can feel that in my mind and body. This is a good article on benefits of Surya Namaskar.
Bhanu Prakash Yoga Practice:
[youtube=http://www.youtube.com/watch?v=lCDWcDhMViI&feature=relmfu]
Yogathan Surya namaskar Video for Beginners:
[youtube=http://www.youtube.com/watch?v=sauUqM8Y5LA&feature=share]