Yoga Nidra (Sanskrit: योग निद्रा) 

or yogic sleep is a state of consciousness between waking and sleeping, like the "going-to-sleep" stage, typically induced by a guided meditation. Yoga Nidra aids in anxiety and insomnia and is a wonderful tool to use to aid in falling and staying asleep. Yoga Nidra was one of my favorite forms of yoga to learn, as it goes hand-and-hand with the soothing and calming benefits of massage.