There are lots of reasons I adore practicing yoga. Increased flexibility and strength, feeling more centered and calm afterwards, sleeping better at night. But I think the number one reason is being able to roll around on the floor like a small child. There's something so joyful about being able to lie on my back and put my feet behind my head. I don't know why, but it works. 
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Balance: Here is what i tell all of my students, it may be ankle strength and not so much your actual balance.....try doing balance chairs, or just showering and cutting veggies up on the balls of your feet.