It's important to address common misconceptions: Yoga Nidra is not Sleep Yoga, Nidra, Deep Rest, Sleeping Meditation, or Non-Sleep Deep Rest. 

The moment we gather our scattered physical, mental, emotional, and pranic energy, it leads to the birth of a powerful insight.

Once upon a time lived the Demon Tarakasura. Upon long, intense tapasya asked a boon from the Goddess that may he die only at the hands of her son. The Goddess gave birth to Skanda who became the destiny of Tarakasura.