This chapter explores the transformative power of ethical, relational presence within the context of trauma-informed, mindfulness-based yoga offered in carceral settings. Drawing on in-depth interviews with incarcerated practitioners, it highlights how consistent, compassionate facilitation can restore participants’ capacity for trust, self-awareness, and relational safety. Through first-person narratives, this chapter illuminates how an ethical facilitator–participant relationship, rooted in respect, authenticity, and nonjudgment, becomes a vital conduit for healing. Participants describe moments of profound insight—where breath awareness and embodied practices foster self-regulation, reduce reactivity, and open pathways toward personal liberation. These healing relationships do not replicate traditional clinical hierarchies; rather, they disrupt carceral logics by centering mutual dignity, inner agency, and spiritual community (sangha). The chapter argues that ethical relationships in yoga therapy can serve as reparative spaces that rehumanize incarcerated individuals, supporting both individual and collective transformation. In doing so, it positions relationship—not just technique—as the heart of healing justice.