Adi (first) Shankara 700s, was the founder of Advaita Vedanta, one of India’s greatest philosophical orientations.
He composed a hymn to Shiva called Shiva Manasa Puja. Below is one of its verses.
Manasa Puja means mental invocation / worship as opposed to Puja (worship) which is done physically.
Reformations have taken place in Vedic invocation / worship as rituals have ceased to have content and form has become important.
To the extent that one can at all speak of modern Yoga as an expression of the invocation / worship, one can undeniably criticize it for having let the form take over the meaning from the content.
Ultimately, Yoga is the identification of the Self with Everything, the insight into the unity we are one with. This verse reminds us of this.
Shiva manas Puja, verse 4
Atma tvam girijah matih sahachara
Pranah shariram griham
Pujate vishayopa bhoga rachanaa
Nidra samadhi stitihi
Sancharah padayoh pradakshina vidhih
Stotrani sarva giro
Yadyat-karma karomi tattad akhilam
You are my Self,
My mind is you mountain range
My breaths is your companions,
My body is your temple
Whatever I enjoy or create are offerings to you
Sleep is my Samadhi
When I walk I go around you
All my speech is your praise
Whatever I do, all that
All that is an offering to you,
Music: Pilgrim heart, Krishna Das.