“ Constantly a human being is longing to be something more than what they are right now. the thing is you want to include something which is not a part of you as yourself, that is the whole effort, if it happens on the emotional level, we call it Love affair. If you do it consciously, we call Yoga ”
Source: https://www.youtube.com/watch?v=BA_t1XyZmNI
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If 'inclusion' finds a physical expression then we call it sexuality, if it finds an emotional expression then we call it Love, if it gets a psychological expression then it gets labeled as ambition, conquest. If it finds a conscious experience then we call it Yoga 
The longing to become one finds expression in many ways, when you are young & your intelligence is hijacked by hormones physical sex is the way, when you are middle aged where your intelligence is hijacked by emotions then love is the way, when you transcend all these then you seek union at a much higher lever, then we say it is Yoga 
Love is not something that you do, it is something that you can become. If you're willing, you can become love, you can make your emotion into a very sweet space. 
Success is not in a particular conclusion achieved but in the joyful and ceaseless striving for what you truly care for 