The main project of yoga is to ground us in reality so that we might be aware of the experience of truth. The truth is now; in the present moment. There is not other reality. The past and the future are merely mirages in the distance. We cannot be sure of either, though on some level, everything that takes form in nature or in our minds has some level of truth to it. As yogis our task is to recognize the truth and keep our awareness fixed there.
This is one of the primary differences between what I would call authentic yoga and and inauthentic yoga; between modern branded yoga and traditional lineage yoga. This is the difference between idealism and reality. You cannot get to reality thru idealism; that’s the first thing that needs to be dropped. Ideology is the mask we hide behind; a popular belief we profess in order to avoid the real work of unmasking ourselves so that we might recognize reality. We cannot even begin to see ourselves thru ideology for it only reflects our fears.
Reality is here and now, naked and vulnerable; a lamb before god. Once one understands that we are always and everywhere at the mercy of time and space, then we can rise above the fear and trembling that keeps so many cowering and gasping to their ideals like a tattered security blanket unable to face the natural rhythms of life and death.