Rolf Gates is a yoga teacher, counselor, and author who cofounded the Yoga, Meditation, and Recovery Conference and currently teaches at Spirit Rock Insight Meditation Center. With Sounds True, he has published the audio program Meditations on the Mat: Practices for Living from the Heart and co-wrote the children's book Yoga Friends. In this episode of Insights at the Edge, Tami Simon speaks with Rolf about his unique background as a former US Army Airborne Ranger and addictions counselor, as well as how those experiences brought him to contemplative practice. They discuss how yoga can soothe both mental and physical agitation, bringing the mind and body into greater harmony. Finally, Rolf explains how he discovered the power of prayer and opening to grace, and why that discovery led him to embrace gratitude as a way of life. (63 minutes)