This book includes the dry logic of scientific research, the poetry of nature, the love of the world, and the ancient Eastern teaching of spiritual self-improvement - yoga. The book reveals the concepts of Indian and Taoist yoga, from superficially descriptive to deep. For the first time, the foundations of the theory of bioenergetic self-regulation of the human body developed by R. S. Fridman are proposed for publication. A parallel description of the foundations of Indian and Taoist yoga and their comparison from the standpoint of studying the structure of the body's bio- and psychoenergetics makes the book relevant for those who practice yoga, qigong and bioenergetics. The book's author, a physicist-turned-yoga master, applies his knowledge and rigorous scientific outlook to the myth-ridden psychology and religion of yoga. Written on the basis of many years of teaching experience in the school of Hatha, Raja and Buddhi yoga, the book is of considerable interest both for those who already have serious experience in yoga and qigong, and for those who are just beginning to master these areas.