Krishna Pattabhi Jois, the modern guru of ashtanga yoga has died at the age of 93. Jois, who studied ashtanga yoga since he was twelve years old and taught his first western student in 1964, died on Monday according to his institute’s website. Ashtanga yoga, one of the most rigorous forms of yoga, was popularized by celebrities like Sting and Madonna. Jois visited the United States for the first time in 1975 and also brought his form on yoga to Europe at that time.

“If we practice the science of yoga, which is useful to the entire human community and which yields happiness both here and hereafter – if we practice it without fail, we will then attain physical, mental and spiritual happiness, and our minds will flood towards the Self.” — Sri Krishna Pattabhi Jois

For the guru Sri Krishna Pattabhi Jois biography, click here. And for more on ashtanga yoga, click here.

Sri Krishna Pattabhi Jois will be dearly missed.