Restorative yoga is a kind of undoing of the nervous system — a deep relaxing form of yoga that releases tension from both the body and mind. Poses are done on the floor and yogis are supported by bolsters and cushions and are often wrapped up in soft warm blankets. It’s almost like a yogic hug. I like to practice and teach restorative yoga with a silent or a chakra meditation as well as pranayama — breath work.
If you’re interested in reading more about restorative yoga I recommend Judith Hanson Lasater’s book Relax and Renew: Restful Yoga for Stressful Times.