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Relaxation is an important part of any good yoga practice.
You should try to allow a few minutes before you begin to relax and get into the proper state of mind.
You should relax between each series of postures to help re-center yourself and feel the benefits of the postures you've completed.
You should allow at least 10 minutes at the end of your practice to relax, reap the benefits of the session, and to ready your mind and body for other activities.
For me, relaxation is one of the most enjoyable and beneficial parts of my yoga practice. It helps calm my mind and relieve the stress of daily living.