My teacher, Rod Stryker, has written a wonderful book that captures the teachings of yoga with respect to using the mind to realize our deepest driving desires. You can find out about this book on Rod's YouTube channel. It's a book that can truly transform your life.
The promise of yoga is to have more joy in our life. Sadly we often get in our own way of achieving a joyful life. By understanding the mind more and learning techniques like samkalpa where we set our intentions, we can be a co-creating in our destiny.