This article provides an overview of the benefits of Yoga for children and adolescents diagnosed with autism spectrum disorder (ASD). Yoga can improve focus and attention, sensory information processing, communication, self-regulation, and motor control. These skills generalize to other areas in life, ultimately helping those with ASD lead more balanced, healthy, socially integrated, and independent lives. The article provides detailed advice based on the author's clinical experience about how to structure a Yoga environment, work with ASD as well as the families and communities of students with ASD, and create lessons based on student's individual or group needs. Sample lesson plans are included.

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