Adi Sankara was the founder of Advaita Vedanta. His commentaries on the ten famous Upanishads of the Vedas are available to us. However, he did not seem to have touched the Yoga Upanishads which are about twenty in number.
Nevertheless, he authored a small book of 29 slokas 'Yoga Taravali', explaining the essence of the path of Yoga. Though this book is very small in size, it is not so in its content value.
We hope that the readers will find this book to be a text book on higher yoga.