In this chapter, I focus on the three limbs of classical aṣṭāṅga-yoga that are most concerned with the physicality of the yoga practitioner—āsana, prāṇāyāma, and pratyāhāra. After a preliminary overview of the Bhagavadgītā’s description of meditational yoga and its perfection, we consider the notion of animal imitation in the practice of certain yoga postures (āsana) as a means to revision human-nonhuman animal relationality. We then turn to breath regulation (prāṇāyāma) as an avenue to yogic awareness of all living beings’ respiratory commonality. In turn, sense withdrawal (pratyāhāra)—essential for effective meditation—can be learned from the tortoise. All these practices, I suggest, may be supported with guidance and inspiration from the famous elephant-headed divinity, Gaṇeśa.