The word yoga is a Sanskrit word meaning yoke or connection. Yoga connects the person\'s body, mind, spirit and soul. Yoga also helps the woman connect to her baby. The practice of yoga gives the woman opportunity to create an environment for her baby that is healthy and peaceful. This chapter illustrates that the practice of yoga encompasses a holistic approach using physical movements (asanas), breathing (pranayama) and relaxation techniques. Yoga exercises specifically practiced during pregnancy are termed as prenatal yoga and have been described in details in this chapter. Yoga can be a great way to stay flexible, relieve stress and prepare for birth. By stretching and training the muscles for birthing process, yoga helps in easing the process of delivery for the woman. The muscles of the entire body are prepared by the yoga to act efficiently during labor. Besides the muscle strengthening exercises, the relaxation and breathing skills can also greatly help the women.