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Your best choice for a basic yoga mat for most types of yoga classes is a dense mat that is fairly thin (1/8 or ¼ inches). If you take a yoga class in a gym with a wooden floor rather than a rug, you may want to double-up and place two thin mats on top of each other if you are jumping forward and back during sun salutations.
A thicker, plushier mat that is more than half an inch thick, such as those used in some gyms for aerobics, stretching, or other activities, won't give your wrists enough support when you push into your hands during Downward Facing Dog and other arm balancing poses.