If you are walking on soft earth, the best way is to walk barefoot, no shoes. You have a tremendous contact with the earth. We belong to the earth! Half of us is part of the earth and half is part of the sky. And when you are walking in the early morning sun on the wet earth, you are enjoying both the sky and the earth. It was perfectly right!
Yoga nidra or yogi sleep has been used for thousands of years by yogis. In the Upanishads, there are three states of consciousness: waking, dreaming and deep sleep. Yoga nidra allows an individual to leave the waking state, move past the dreaming state and into deep sleep while remaining awake or conscious during the whole process. In yoga nidra, there are no dreams to explore. Instead, it is a process of emptying. It purifies the deeper aspect of the human mind by exploring deep impressions or samskaras. This is essential as samskaras drive our karma.