We are entangled in this material world due to uncontrolled senses. The yoga process is meant to control these senses. If somehow we can manage to control the senses, we can turn our face to actual spiritual happiness and make our lives successful.
sa niscayean yoktavyo
yogo nirvinna-cetaxa
sankalpa-prabhavan kamams
tyaktv sarvan asesatah
manasaivendriya-gramam
viniyamya samantatah
sanaih sanair uparamed
buddhya dhrti-grhitaya
atma-samstham manah krtva
na kincid api cintayet
yato yato niscalati
manas c