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The best yoga instructors are happy to answer questions about the yoga poses during a class as long as you keep it to a minimum. It's OK to ask if you don't understand how you should be positioned; you don't want to hurt yourself because you are doing something wrong. If you simply can't do a certain pose, such as Lotus, ask, “what can I do instead of Lotus?” and most instructors will be happy to help you.
If you have more detailed questions about what poses you can practice at home to improve a certain series of poses, or to help open up tight spots such as hips and shoulders, talk to your instructor after the class is over.