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The difference between matsyendrasana and ardha -matsyendrasana is, in Matsyendrasana the folded leg is placed at the root of the thigh but above the hip joint that is between the abdomen and thigh. In Ardha –matsyendrasana, the folded leg and heel is placed by the side of opposite buttocks or at the perianal region.
Ardha means half. Mastyendra was one of the founder of hatha yoga, as mentioned in hatha-yoga pradipika. He did meditation practice in matsyendrasana, which is a difficult asana for a beginner. Ardha Matsyendrasana is a variation of matsyendrasana.
Benefits

Physical:

This asana stretches muscles of one side of the back and abdomen while contracting the muscles on the other side. Gives a twisting effect to the spine and improves its flexibility. This asana massages the abdominal organs, improves digestion, and relieves constipation.
This asana has a very good effect on the pancreas, abdominal, thyroid and sex glands. Those suffering from diabetes should practice this asana regularly, with other set of asanas.
Activates kidneys, spleen, liver, stomach, intestine, bladder and pelvic region. Brings relief to those suffering from ailments of these organs.
Improves blood circulation to the lungs. Improves flexibility of ankles, hip and shoulder joint.
Mental:
Improves body-mind co-ordination and manages stress.
Pranic:
Affects ajna chakra.
Techniques:
1. Sit on the floor with legs stretched forward. Place the palms on the floor, by the side of the buttocks and keep the back straight, fingers pointing forward.
2. Bend the right knee and lean slightly to your right, bend the right leg at the knee to place the right heel tight against the perineum.
3. Bend the left knee, and, lifting the left leg from the floor, place the left sole on the outer side of the right knee and thigh so that the outer side of the left ankle touches the outer side of the right thigh. Balance in this position, keeping the left shin perpendicular to the floor. By turning the trunk, let the right armpit touch the outer side of the right thigh. Using the right upper arm, push the left knee towards the chest so that there will be no space left between the right armpit and knee, or between knee and chest. Hold the left big toe with the right hand.
4. Take the left hand round the back and try to touch the right thigh or hold the right thigh by pushing your left shoulder back.
5. Look back by pushing your chin to the left (The erect leg acts as a fulcrum to get the maximum twist of the spine) Keep the spine vertical. Do not sit on the heels. Maintain this position for some time.
6. Breathing should be natural.
7. Slowly take your left hand forward. Lift your right hand and place it by the side of your hips. Take your left leg forward and come to the initial sitting position.
8. Repeat this, beginning from the other side.