Yoga is the spiritual precept and self realization the end goal of human life. Yoga as detailed in Bhagavad Gita is the effort of soul atman wanting to merge with Parmatman, God Almighty.
Yoga is never about a routine of yogic exercises (asanas) as most people world over misunderstood. In yesteryears accomplished sages and Rishis developed a routine of yogic exercises (asanas) to keep the body fit and fine. These Rishis believed in absence of a robust body, one could never successfully indulge in yoga to reach God in one’s lifetime.
If yoga is the desire of soul atman to merge with Parmatman then this desire can be completed by human beings indulging in spirituality as per Bhagavad Gita. It is Bhagavad Gita that tells us we are primarily a spirit, consciousness that desires merging with God Almighty at the earliest.
Bhagavad Gita also tells us that we are primarily the spirit and not the manifest physical human form. We failed to recognize our true identity as soul atman due to dominance of ego. To recognize we are primarily a spirit, we need demolishing our ego in totality.
This became possible when we indulged in scriptures of Hinduism primarily Bhagavad Gita and Upanishads (independent spiritual treatises). The sacred texts tell us to indulge in contemplation to seek answers to varied questions existing within us from beginning of time, queries like who am I, where did I come from, what is my goal of life, what is my relationship with God, how I am connected to world of souls atmans… meaning of Dharma, karma, spirituality and religion and so on.
When we reflected on deeper issues of life contained in Bhagavad Gita via contemplation, we slowly start realizing the merit of indulging in spirituality. The more we indulged, more pleasurable the journey. As spiritual journey is an inward journey we could not talk about it with anybody. Journey of spirituality is always covered individually indulging in contemplation all the time.
Indulging in jnana yoga when we succeed demolishing ego to zero, we start getting promptings of Lord Krishna from within our heart. Metaphorically Lord Krishna is soul atman existing in heart. Guided by promptings of Lord Krishna coming from within one can easily complete spiritual journey successfully to reach state of self realization.
Indulgence in yoga meditation means indulging in spirituality as per Bhagavad Gita! Indian spirituality is the only means through which one reaches cosmic end of life, state of self realization, god realization.