The analogy that works best for me is The Internet analogy, the online analogy. Remember that the Sanskrit word "yoga" is similar to the English word “yoke.” It means, “to join” or "connect." And when you desire to join or connect with something, it's because, at the moment, you feel separate or disconnected from that something. Otherwise you would not be desiring to join with it.
The yogis have been talking about this for eons. In easy words, it's about your mind, your consciousness, joining with, yoking with Big Mind, the Supreme Consciousness. And then living your life with the perspective you will find yourself having when you are Online.