<qa>  What is the goal of the long-term goal?The long-term goal is to identify and establish effective mind-body interventions as an aspect of complementary and alternative medicine to improve health and Quality of Life QoL for people with disabilities. Preliminary data suggest that engagement in yoga is feasible and beneficial for multiple study populations, and it may relieve symptoms of neuropathy. The central hypothesis is that individuals who complete yoga will have significantly better balance, mobility, and QoL after 8 weeks of yoga. 