Practicing the balance of effort and ease (asana) on the yoga mat gives us the tools to practice that balance off the mat. You can practice yoga anytime, anywhere because it is simply the practice of balancing effort and ease and acting along that line of balance.
sthira sukham asanam – Patanjali’s Yoga Sutra 2:46
sthira = steady, stable, motionless
sukham = comfortable, ease filled
asanam = meditation posture