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The mental sharpening is a very acute observation.
.......
The more inflexible you are, the better a candidate you are to start yoga. Like saying the taller a 15-year-old is, the more the school basketball coach wants him. You start by approximating the poses, and find yourself moving a quarter inch a day. I used to be the most inflexible guy in the world, and now you should see it ...
Studies show that very elderly people -- like 88 years old -- who lose their balance and fall, just walking slowly -- are "cured" by yoga. The impact on body control, the lightness on your feet, etc, just has to be experienced to be believed.
Hop on eBay, buy a single P90X Yoga disk (like $8) and transform yourself, m'man :- )