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Freedom In The Dream State
Freedom In The Dream Statesvapna-svātantrya
Classical Tantrik Yoga
Yukti #28Verse 55
Embodied III
Verse 55pīnāṃ ca durbalāṃ śaktiṃ dhyātvā dvādaśa-gocare  praviśya hṛdaye dhyāyan svapna-svātantryam āpnuyāt Meditating on the śakti [of the breath] as thick in the heart and gentle in the area of the dvādaśānta, [and then] entering [fully] into that śakti and meditating [on it], one attains freedom in one’s dreams.
Simplified Steps
Practice Yukti #1, but focus on making the breath thick & strong in the region of the heart (center of the torso) and weak & gentle in the area above the crown of the head
Immerse yourself totally in the energy of the breath
Once comfortable with the practice, do it in bed before falling asleep, accompanied by the intention to have a lucid dream
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