By design, yoga is a relaxing and rewarding experience. So what better place to practice your savasana than in bed -- and in your pajamas? Developed by yoga instructor Edward Vilga, this innovative workout can be performed anytime of day, whether it's when you first wake up in the morning or just before you go to bed at night. A progression of creatively named poses includes the "Breakfast Bend" and the "Winding Down Twist."