Yogasena

relaxation / Yogic Sleep

Yoga Nidra

How much
one session of 10 to 30 minutes
Count
27 to 1 backward breath count
When
In bed at night for sleep
Kind of practice
relaxation
Written by Published 11 min read

In one breath

Yoga Nidra, the yogic sleep, is done in one session of 10 to 30 minutes, on a 27 to 1 backward breath count count. Best time: in bed at night for sleep, or in the early afternoon between one and three for the fatigue of the day. two hours after a meal, and never while driving or operating anything.. Read the list of who should not do it before your first round.

Line drawing of the reclining position used for Yoga Nidra, with a folded blanket under the head
On this page

What Yoga Nidra is, and what it is not

Yoga Nidra means yogic sleep. You lie still in savasana and follow a spoken instruction through a fixed sequence of stages, while staying just on the waking side of sleep. One session lasts 10 to 30 minutes, and the ten minute version below is the one most people should start with.

The state is genuinely odd, and it has been measured. In a study of 26 practitioners, people remained awake by every standard sleep scoring criterion, and yet showed increased delta activity in central parts of the brain and decreased alpha at the back of the head. The researchers call this local sleep: parts of the brain producing sleep like activity while the person is technically awake. That is a reasonable description of what it feels like from the inside, and it is why the practice is not simply a nap with instructions.

What it is not. It is not meditation, because there is nothing to concentrate on and no effort to sustain. It is not a nap, because there is a voice and a sequence. It is not progressive muscle relaxation, because you never tense anything. And it is not a treatment for insomnia, depression or high blood pressure, whatever the effect sizes in the meta-analyses look like at first glance.

The one thing that makes it unusual on a yoga site is that it demands nothing. No flexibility, no fitness, no ability to sit cross legged, no experience. If you can lie down and hear, you can do it tonight.

A ten minute Yoga Nidra script, for sleep

This is the script I use for the last ten minutes of the day. Read it slowly to yourself, have somebody read it to you, or record it in your own voice. The pace is what matters: roughly half as fast as you think, with a pause of two or three seconds at every full stop. It ends without bringing you back, because it is designed for bed.

Settling, about one minute.

Lie on your back. Legs a little apart. Arms away from the sides, palms turned up. A blanket over you. Let the eyes close.

Take one slow breath in. And let it go, longer than it came in. Again. And once more. Now stop managing the breath, and let the body breathe itself.

Feel the weight of the body on the bed. The back of the head. The shoulders. The hips. The heels. Nothing to hold up any more.

Resolve, about half a minute.

Say silently, three times, in the same words each night: I am at ease. I am at ease. I am at ease.

Rotation of consciousness, about five minutes.

Take the attention to the right hand thumb. Second finger. Third finger. Fourth. Fifth. The palm of the right hand. The back of the hand. The wrist. The forearm. The elbow. The upper arm. The right shoulder. The right armpit. The right side of the ribs. The right waist. The right hip. The right thigh. The right knee. The calf. The ankle. The heel. The sole of the right foot. The top of the foot. The big toe. Second toe. Third. Fourth. Fifth.

Now the left hand thumb. Second finger. Third. Fourth. Fifth. The palm. The back of the left hand. The wrist. Forearm. Elbow. Upper arm. The left shoulder. The armpit. The left ribs. The left waist. The left hip. Thigh. Knee. Calf. Ankle. Heel. The sole of the left foot. The top of the foot. Big toe. Second. Third. Fourth. Fifth.

Now the back of the body. The right shoulder blade. The left shoulder blade. The whole of the upper back. The middle back. The lower back. The back of the pelvis. The back of both legs. The back of the head.

Now the front. The forehead. The right eyebrow. The left eyebrow. The space between the eyebrows. The right eyelid. The left eyelid. The right cheek. The left cheek. The nose. The upper lip. The lower lip. The chin. The throat. The right side of the chest. The left side of the chest. The centre of the chest. The upper abdomen. The navel. The lower abdomen.

The whole body lying still. The whole body. The whole body.

Breath count, about three minutes.

Take the attention to the breath at the navel, rising and falling. Count each exhale backwards, silently, from twenty seven.

Breathing out, twenty seven. Breathing out, twenty six. Breathing out, twenty five. And carry on, in your own time, all the way down towards one. If the count is lost, begin again at twenty seven, without minding.

Ending, about half a minute.

Let the counting go. Let the breath go. Say once more, silently: I am at ease.

There is nothing else to do tonight. Stay exactly where you are, and let sleep arrive on its own.

If you are practising in the daytime, do not stop there. Add this: become aware of the sounds in the room. Become aware of the weight of the body. Move the fingers and the toes. Take one deeper breath. Roll onto the right side and stay for a minute. Then push yourself up with the hands, and open the eyes last.

Yoga Nidra for sleep: how to use it, and what to expect

The most searched question about this practice is whether it helps you sleep, and here the evidence is better than for most things on this site.

A randomised trial in 41 people with chronic insomnia compared Yoga Nidra with cognitive behavioural therapy for insomnia, which is the standard first line treatment. Both groups improved on total sleep time, sleep efficiency and the time spent awake after falling asleep. The Yoga Nidra group showed a marked increase in the proportion of N2 and N3 sleep, the deeper stages, and their salivary cortisol fell significantly, from 3.63 to 2.16 nanograms per millilitre, while the CBT group's did not. In a separate study of novices without sleep complaints, four weeks of twenty minute sessions raised sleep efficiency by 3.62 per cent and cut time awake after falling asleep by about twenty minutes.

Neither study says it replaces treatment. Insomnia that has lasted more than three months deserves a doctor, and cognitive behavioural therapy remains the treatment with the strongest evidence base. What these trials support is that Yoga Nidra is a reasonable thing to do at bedtime, that it is not merely relaxing but changes measurable sleep architecture, and that it is worth a fortnight of your evenings.

How I use it. In bed, lights off, phone across the room, ten minutes, ending without waking you up. Every night for two weeks before you form any opinion. What students report first is almost never something they noticed during a session. It is that they stopped lying awake for the usual forty minutes. If you want a whole evening routine leading into it, the bedtime sequence puts fifteen minutes of gentle movement before this script.

The stages, and why they are in that order

Yoga Nidra as it is usually taught has a fixed structure, and the order is not arbitrary.

  1. Settling and internalisation. A few long exhales and the weight of the body. This is the only stage where you are asked to do anything to the breath.
  2. Sankalpa, the resolve. A short sentence in the present tense, repeated three times in exactly the same words. It is stated at the beginning and again at the end, when the mind is at its most receptive.
  3. Rotation of consciousness. The longest stage, and the heart of the practice. Attention moves through the body in a fixed sequence, part by part, faster than the mind can attach a thought to any of them. This is what quietens the thinking, and it does it by giving the mind more to keep up with rather than less.
  4. Breath awareness. Counting exhales backwards from 27. Losing count and starting again is expected. In the first month almost nobody reaches 1, and most people fall asleep somewhere in the teens, which for a bedtime practice is not a problem.
  5. Opposite feelings. Heaviness then lightness, warmth then coolness, experienced rather than imagined. Left out of short sessions.
  6. Visualisation. A sequence of images in longer traditional sessions. I leave it out of a sleep practice entirely.
  7. Sankalpa again, then the return. The same words, then sound, weight, movement, and rolling to the right side before sitting up. For a bedtime session there is no return.

A thirty minute session uses all of it. The ten minute script above uses stages one, two, three, four and seven, which is where the effect mostly lives.

Setting up: position, temperature and props

Half of whether a session works is decided before it starts.

  • Position: Savasana, flat on the back, legs a little apart, feet falling out, arms away from the body with the palms up.
  • Under the knees: a bolster or a rolled blanket. This one change stops more lower back complaints than anything else I do.
  • Under the head: a thin cushion, enough that the chin is very slightly lower than the forehead. A chin tipped up keeps the throat tense.
  • Warmth: a blanket, always, and socks. You stop generating heat within a few minutes of stillness.
  • Late pregnancy: on the left side with a pillow between the knees and one under the head, not flat on the back.
  • Back pain: knees bent over a bolster, or lie on the side with the knees drawn up.
  • Light and sound: dark for a sleep session, dim for a daytime one. An eye pillow if the room cannot be darkened. No music with a melody: it gives the mind something to follow that is not the voice.

Two hours after a meal, and empty the bladder first, because ten minutes into a session is exactly when you will remember that you did not.

What the evidence supports, and what it does not

Yoga Nidra has more research behind it than most yogic relaxation practices, and it is also a field where the effect sizes are quoted far more often than the caveats attached to them.

Sleep. The strongest area. A randomised trial against cognitive behavioural therapy in chronic insomnia, plus a four week study in novices with sleep laboratory measurements, both point the same way. The insomnia trial only repeated its sleep studies in patients who volunteered, which is a real limitation.

Stress, anxiety and depression. A meta-analysis of 73 studies and 5,201 participants reports large reductions across all three. The authors themselves state that 77 per cent of the randomised trials were at high risk of bias and that the effects likely reflect inflated estimates. Anyone quoting the headline numbers without that sentence is misleading you.

Blood pressure. A meta-analysis of eight trials found systolic pressure about 12 mmHg lower and diastolic about 6 mmHg lower, but five of the eight were not randomised and were rated at serious risk of bias. A single session study in 32 people at AIIMS Rishikesh found an immediate fall of about 7 mmHg systolic with no control arm. Encouraging, unproven.

What is not shown. That it treats depression, that it replaces medication, or that the deep stages of sleep it appears to increase translate into any specific health outcome. If you are practising for a diagnosed condition, do it alongside your treatment and tell whoever is treating you.

Session length, week by week

There are no rounds in this practice, so the ladder is length and how much of the script you attempt.

WeekSessionWhat to includeTime of dayStop if
Week 110 minutesBody scan only, right side then leftAfternoon or early eveningNothing, falling asleep is allowed
Week 215 minutesBody scan and breath counting from 27 downEveningYou are cold, in which case cover up
Week 320 minutesAdd the sankalpa, one short sentenceEveningThe floor is uncomfortable, so use a bolster
Week 4 onwards20 to 30 minutesThe full sequence of stagesAny time, including in bedNothing

Falling asleep is not a failure and it is not a reason to shorten the session. If it happens every time and you wanted the practice rather than the nap, move it to the afternoon.

Six condition pages here use this practice

Yoga nidra is on more of the condition pages on this site than any other practice in the pranayama family, and the reason is that it is the only one that asks nothing at all of a body that is already tired or sore.

  • Yoga for back pain uses it on the day nothing else is practised, because sleep and pain feed each other in both directions.
  • Yoga for anxiety uses it as the practice for the evening, when a counted breathing practice is too much like homework.
  • Yoga for high blood pressure and yoga for diabetes both use it as the rest that a person under long term medical management rarely gives themselves.
  • Yoga for PCOS and yoga for thyroid use it as the close of a week built around calming rather than exertion.

Lie in Savasana with a support under the knees and a folded blanket under the head. It is the natural end of the bedtime sequence, and if you fall asleep, nothing has gone wrong. Being led through it once, in a class, is worth more than a dozen attempts on your own.

Two practical notes. Lie down properly: a folded blanket under the head, a support under the knees, and something to cover you, because body temperature drops when you stop moving. And do it after the body has moved rather than instead of moving, so ten minutes earlier in the day or a few rounds of Marjariasana beforehand both make it work better. It is the practice that the fifth limb, pratyahara, describes, which is set out in the eight limbs of yoga, and the words used in a script are collected in the yoga glossary. If you are new to all of it, how to start yoga at home puts it at the end of a first routine, and Bhramari is what to do beforehand on a night when the mind will not stop.

How to do it, step by step

one session of 10 to 30 minutes is a full practice. Stop early on any round that feels like effort rather than ease: strain in pranayama is not something you push through.

  1. Step 1. Lie on your back in savasana: legs a little apart, feet falling outwards, arms away from the sides with the palms up. Put a folded blanket or a bolster under the knees, which takes the pull out of the lower back, and a thin cushion under the head if the chin is tipping up.

  2. Step 2. Cover yourself. Body temperature drops when you stop moving, and being cold twenty minutes in is the commonest reason a session fails. A shawl or a light blanket, and socks if your feet are cold.

  3. Step 3. Decide before you begin whether you are practising to sleep or practising to rest. If it is for sleep, do it in bed and let yourself go. If it is for rest, set an alarm for a few minutes after the session ends, because the whole point of the practice is to stay just awake.

  4. Step 4. Take three slow breaths, letting each exhale be longer than the inhale, then let the breath go entirely and stop managing it. Everything after this point is listening rather than doing.

  5. Step 5. Make a sankalpa, a short resolve, said silently three times in the present tense and in the same words each session. Something plain: I am at ease. Six words at most, no bargaining and no wishing.

  6. Step 6. Rotate the awareness through the body in a fixed order. Right hand thumb, second finger, third, fourth, fifth, palm, back of hand, wrist, forearm, elbow, upper arm, shoulder, armpit, side of the ribs, waist, hip, thigh, knee, calf, ankle, heel, sole, top of the foot, and each toe. Then the same on the left. Then the back, then the front, then the head. You are not tensing or relaxing anything. You name the part and move on.

  7. Step 7. Turn to the breath. Count each exhale backwards from 27 to 1. If you lose the count, begin again at 27. Losing it is not a failure, it is the practice noticing itself, and most people never reach 1 in the first month.

  8. Step 8. Bring in a pair of opposite feelings if there is time: heaviness and then lightness, or warmth and then coolness. Feel each one for half a minute rather than picturing it. In a ten minute session this stage is usually left out.

  9. Step 9. Repeat the sankalpa three times, in the same words. Then begin coming back: the sound of the room, the weight of the body on the floor, the breath. Move the fingers and toes. Turn onto the right side and stay there for a minute before sitting up. Never sit up straight from lying.

  10. Step 10. For sleep, stop after the body rotation and the breath count and simply do not come back. That is the version to use in bed, and it is why the ten minute script below ends without waking you up.

What it is good for

  • The strongest evidence is in chronic insomnia. A randomised trial compared Yoga Nidra with cognitive behavioural therapy for insomnia in 41 patients. Both improved total sleep time, sleep efficiency and time awake after falling asleep. Yoga Nidra showed a marked increase in the proportion of N2 and N3 sleep, and salivary cortisol fell significantly from 3.63 to 2.16 ng per ml, which did not happen in the CBT group. Repeat sleep studies were only done on patients who volunteered, which weakens the objective side of the result. Source
  • In novices with no sleep complaint, four weeks of twenty minute sessions improved sleep efficiency by 3.62 per cent, reduced time awake after falling asleep by about 20 minutes, and increased delta power in deep sleep. Accuracy improved on several learning and memory tasks. There was no control group, so read it as a promising single arm study. Source
  • It is not simply sleep, and the EEG says so. In 26 people, participants stayed awake by standard sleep scoring criteria while showing increased delta power in central regions and decreased alpha at the back of the head, a pattern the researchers describe as local sleep in parts of the brain while the rest stays awake. Source
  • A large meta-analysis covering 73 studies and 5,201 people reported substantial reductions in stress, anxiety and depression. The authors are unusually frank that 77 per cent of the randomised trials were at high risk of bias and that the effect sizes are likely to be inflated. Take the direction seriously and the size with caution. Source
  • For blood pressure, a meta-analysis of eight trials in 482 people found systolic pressure about 12 mmHg lower and diastolic about 6 mmHg lower. Five of the eight were not randomised and were rated at serious risk of bias, and the studies varied enormously, so this is a hopeful signal rather than a number to rely on. Source
  • In my own teaching, the thing that makes yoga nidra different from every other practice on this site is that it requires nothing of the student. No sitting, no counting, no flexibility, no fitness. I have given it to people recovering from surgery, to people who could not manage a single asana, and to people who told me flatly that they could not meditate, and it is the one practice none of them have handed back.

Who should not do this

  • Never practise Yoga Nidra while driving, operating machinery, or minding a small child or anyone who needs supervision. It is designed to put you on the edge of sleep and it frequently takes people over it.
  • With clinical depression, particularly with low motivation and daytime sleepiness, a long daytime session can deepen lethargy rather than lift it. Practise in the evening instead, keep it to ten minutes, and tell whoever is treating you that you are doing it.
  • With post traumatic stress, dissociation, or a psychotic illness, do not begin this on your own from a recording. Lying still with the eyes closed and attention turned inwards can bring difficult material up, and the practice offers no way to stop it. Learn it with a teacher and with your clinician informed.
  • If you have severe untreated obstructive sleep apnoea, do not practise lying flat unsupervised, and get the apnoea treated. A practice that helps you fall asleep is not a treatment for a condition that interrupts it.
  • In late pregnancy, lie on the left side with a pillow between the knees rather than flat on the back. Lying supine in the third trimester is uncomfortable for most and inadvisable for some.
  • With acute lower back pain, keep the knees bent over a bolster, or lie on your side. Flat on the back with the legs straight is the position that aggravates it.
  • This is a relaxation practice, not a treatment. It does not replace medication, therapy or a sleep clinic. If you have had insomnia for more than three months, see a doctor as well as practising this.

Breathing practices change blood pressure and heart rate for real, not metaphorically. If any of these describe you, say so before you start, and leave breath retention alone until somebody has watched you practise.

What Vaithialingam sees people get wrong

What goes wrong most often in this practice, on the left, and what to do instead, on the right.

  • Trying to concentrate, and getting frustrated when the mind wanders.

    The fix. There is nothing to concentrate on. Follow the voice, and when you notice you have drifted, rejoin wherever the voice has got to. Drifting off and coming back twenty times is a completely successful session. The effort to stay focused is itself the thing that keeps people tense.

  • Practising it sitting up in a chair to avoid falling asleep.

    The fix. Lie down. The body cannot let go fully while it is holding itself upright. If staying awake is the concern, keep the session to fifteen minutes, keep the room cool and light, and set an alarm.

  • Getting cold twenty minutes in and spending the rest of the session shivering.

    The fix. Cover up before you start, and put socks on. Body temperature falls once you stop moving. This is the single most common practical reason a session goes badly, and it is entirely preventable.

  • Changing the sankalpa every session, or making it a long wish.

    The fix. Keep it to six words or fewer, in the present tense, and use exactly the same words for months. I am at ease. Something repeated identically has a chance to sink in. Something rewritten each time is just thinking.

  • Tensing and releasing each body part during the rotation.

    The fix. That is progressive muscle relaxation, a different and perfectly good practice. In yoga nidra you name the part and move on without doing anything to it. The speed of the rotation is part of what stops the mind from settling into thought.

  • Sitting straight up the moment the recording ends.

    The fix. Move the fingers and toes, then roll onto the right side and rest there for a minute, then push up with the hands. Blood pressure has dropped during the practice, and coming up fast is how people feel faint.

  • Doing it once, deciding it did nothing, and stopping.

    The fix. The trials that show a result used daily practice for four weeks or more. Give it a fortnight of consecutive nights before you judge it. What most students notice first is not during the session but that they fall asleep faster the same week.

Where these claims come from

Anything on this page stated as a fact about the body is sourced below. Anything not sourced is written plainly as what the teacher has seen in his own classes, and is labelled that way in the text.

  1. Yoga nidra practice shows improvement in sleep in patients with chronic insomnia: A randomized controlled trial, The National Medical Journal of India 2021
  2. Improved sleep, cognitive processing and enhanced learning and memory task accuracy with Yoga nidra practice in novices, PLOS ONE 2023
  3. Electrophysiological Evidence of Local Sleep During Yoga Nidra Practice, Frontiers in Neurology 2022
  4. Effects of Yoga Nidra on Stress, Anxiety, and Depression: A Systematic Review and Meta-Analysis, Annals of the New York Academy of Sciences 2025
  5. Yoga Nidra for hypertension: A systematic review and meta-analysis, Journal of Ayurveda and Integrative Medicine 2024
  6. The Effect of Yoga Nidra Intervention on Blood Pressure and Heart Rate Variability Among Hypertensive Adults: A Single-arm Intervention Trial, Cureus 2025
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From Vaithialingam's class

I used to think the sign of a good yoga nidra was a silent hall. Then I spent years watching people apologise afterwards for having fallen asleep, and I realised I had taught them to think of the practice as a test they could fail. So I changed what I say at the start. I now tell every group that if they fall asleep, they needed the sleep, and the practice will still have done its work, and there is nothing to report back to me. The number of people who get something out of it went up immediately. The other thing I have learned is entirely unmystical: cover people up. Body heat drops fast once somebody stops moving, and a person who is cold at minute twelve has stopped listening at minute thirteen, whatever their face is doing. So now the blankets come out before the script starts, and if I have to choose between a good script and a warm room, I take the warm room every time.

This is what he sees in class, not a medical claim. Where this page states what a practice does for a condition, the evidence is in the sources cited on the page.

Vaithialingam, founder and teacher, 40 years of teaching.

Questions people ask

How long should a Yoga Nidra session be?

Ten minutes for a bedtime practice, twenty for a daytime one, and up to thirty for a full traditional session with all the stages. The trials that show a result on sleep used twenty minute sessions daily for four weeks. The ten minute script on this page is the one to start with if you are practising to fall asleep.

Is it okay to fall asleep during yoga nidra?

Not at all, and if you are practising at night it is the point. If you are practising in the daytime to rest rather than to sleep, keep the room cool and lit, keep the session to fifteen minutes and set an alarm. Nobody stays on the edge of sleep for the whole session in the first month, and drifting off and rejoining the voice repeatedly is a completely normal session.

Does yoga nidra help with insomnia?

The evidence is better than for most relaxation practices. A randomised trial in 41 people with chronic insomnia found Yoga Nidra improved sleep efficiency and time awake after falling asleep, increased the deeper stages of sleep and lowered salivary cortisol. It is not a replacement for treatment: insomnia lasting more than three months needs a doctor, and cognitive behavioural therapy remains the best evidenced treatment.

What is the difference between Yoga Nidra and meditation?

In meditation you sit upright and sustain attention on something, and staying awake is part of the practice. In Yoga Nidra you lie down and follow a voice through a fixed sequence, there is nothing to concentrate on, and falling asleep is not a failure. Yoga Nidra is much easier for beginners for exactly that reason, and it is the practice I give to people who tell me they cannot meditate.

What is a sankalpa in yoga nidra?

A sankalpa is a short resolve, stated silently three times in the present tense at the start of the practice and again at the end. Keep it to six words or fewer and use exactly the same words for months: something like I am at ease. It works by repetition, so rewriting it every session turns it back into ordinary thinking.

When is the best time to do Yoga Nidra?

In bed at night if the aim is sleep, or in the early afternoon between one and three if the aim is to cut through the fatigue of the day. Leave two hours after a meal. Never practise it while driving, minding a small child, or doing anything that needs your attention: it is designed to put you on the edge of sleep and it often takes people over.

Can anyone do Yoga Nidra?

Almost. It needs no flexibility, no fitness and no ability to sit, which is why I give it to people recovering from surgery. But if you have post traumatic stress, dissociation or a psychotic illness, do not start it alone from a recording, because lying still with attention turned inwards can bring difficult material up. In late pregnancy lie on the left side rather than flat. And with clinical depression, keep sessions short and in the evening rather than long and in the afternoon.

How do you write a yoga nidra script?

Write it in the order the practice moves: settling and getting comfortable, the intention, the body scan in a fixed sequence, the breath count, an image or two, then coming back. Write it in short sentences in the second person, leave real silence between them, and read it aloud to yourself before using it. Anything you would not say out loud in a quiet room does not belong in it.

How long should a yoga nidra script be?

About a hundred and twenty words a minute of finished practice, which is far fewer words than people expect, because most of a session is silence. A ten minute script is roughly a page. If your script fills three pages for a twenty minute session you are talking too much, and the practice becomes a lecture the listener has to follow.

How do you lead yoga nidra?

Slowly, quietly, and with fewer words than you think. Speak at about half your conversational speed, keep the voice level rather than soothing, and leave a gap after each instruction long enough that it feels slightly too long to you. Do not ask questions, do not add explanations mid practice, and bring people back gradually rather than announcing the end.

Is yoga nidra as good as sleep?

No. It is a rest, and a genuinely restorative one, but it is not sleep and it does not replace what sleep does. The claim that twenty minutes equals several hours of sleep is repeated everywhere and there is no good evidence for it. What is fair to say is that people finish it feeling rested, and that it is a reasonable thing to do on a day when you did not sleep well.

Can yoga nidra replace sleep?

No. Treat it as a rest that helps you get through a bad night and possibly sleep better the next one, not as a substitute for hours in bed. Anybody using it to justify sleeping less is using it against themselves. If you are consistently short of sleep, that is worth a doctor's attention rather than a practice.

What are the stages of yoga nidra?

Settling and getting comfortable; the sankalpa or intention; the rotation of consciousness through the body in a fixed order; awareness of the breath, usually counted backwards; pairs of opposite sensations such as heavy and light; visualisation or imagery; the sankalpa repeated; and the return to ordinary awareness. Different traditions vary the middle stages, and a short practice may use only the first four.

Can you do yoga nidra lying in bed?

Yes, and for anybody who is doing it to help with sleep, bed is the sensible place. The only cost is that you are more likely to fall asleep partway through, which does not matter if sleep was the point. If you want the practice itself rather than the nap, do it on the floor, in the afternoon, with something under the knees.

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