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Yoga at home. 
Iyengar Yoga
Invocation to Patanjali
yogena cittasya padena vacam
(yo-gay-nuh chih-tah-syuh pah-day-nuh-vah-chahm)
malam sarirasya ca vaidyakena
(mah-lahm shah-ree-rah-syuh chuh vy-dyun-kay-nuh)
yopakarottam pravaram muninam
(yo-pah kar-oh-tahm prah-vah-rahm moo-nee-hahm)
patanjalim pranajaliranato'smi
(pah-tahn-jah-lim prahn-jah-leer ah-nah-toe-smee)
abahu purusakaram
(ah-bah-hoo poo-roo-shah-kar-ahm)
sankha cakrasi dharinam
(shahn-kah chah-krah-see dar-ee-nahm)
sahasra sirasam svetam
(sah-hah-srah sheer-ah-sahm shvay-tahm)
pranamami patanjalim
(prah-nuh-may-mee pah-tahn-jah-lim)
We chant so that at the very beginning that feeling of sanctification comes from inside, with the feeling of surrendering oneself, because nothing can be learned in this world unless you have the humility to learn. So the moment you think of the Lord at the beginning of doing a practice, you know that you are very small in front of the greatest soul. Once that is understood then the other problems which always arise while practicing, mainly concerned with ego, will be affected. You know that you are "coming down" to learn something. And you can't learn anything unles you come down; if you think you are on the top and you know everything, then you are not learning at all. In that sense the chanting helps.
Geeta Iyengar
Let us bow before the noblest of sages Patanjali,
who gave yoga for serenity and sanctity of mind,
grammar for clarity and purity of speech and
medicine for perfection of health. Let us prostrate before Patanjali, an incarnation of Adisesa, whose upper body has a human form, whose arms hold a conch and a disc, and who is crowned by a thousand-headed cobra.s