According to a legend, Ananta - the Great Serpent - is the origin of all incarnations within this material world. He floats on the cosmic ocean and serves as a couch for the Lord Vishnu, who rests between his creations. The serpent is comfortable enough to serve as a bed for the Lord and steady enough to hold the entire Universe.
Same is true for any Yoga asana. As Patanjali - who is believed to be the reincarnation of Ananta - said in his Yoga Sutras:
"Posture should be steady and comfortable. By relaxation of effort and meditation on the "Endless" (ananta) posture is mastered." Patanjali's Yoga-sutra II.46-47
So let us follow Patanjali’s teachings, while continuing our infinite journey, and enjoy the many benefits that Yoga has to offer along the way.
"Asanas (postures) make one firm, free from maladies and light of limb." The Hatha-yoga-pradipika I.17