We get it: Yoga can be intimidating. Between the gravity-defying poses and the overwhelming number of class options, it’s easy to think yoga is just for a certain type of person. Truth is, yoga is for everyone and you don’t need elaborate props or gymnast-level flexibility to give it a try. In fact, you don’t do yoga because you’re flexible—you do it to become more flexible (in your body and your life).

Here, we’ve got everything you need to know about yoga for beginners—from the history and benefits to the different styles, foundational poses, accessibility, and etiquette. Curious about how to pick the right class, proper breathing techniques, what it means to practice yoga respectfully, and more? We’ve got that, too. Consider this your go-to resource on yoga for beginners.