Yoga Nidra is a kind of guided meditation practice that seeks to deliver you to a state in between sleep and wakefulness, where your subconscious can be accessed.
Yoga Nidra is both an advanced practice and perfectly suited to relative beginners. It is a guided meditation practice that is extremely relaxing and restorative. Andrew Huberman, PhD, refers to Yoga Nidra as "non-sleep deep rest" or "NSDR." The practice is a kind of mental training that teaches you to access brain states where the psychological structure of ego is absent. The subconscious and unconscious parts of our awareness do impact our lives and yoga nidra is a practice that teaches you how to access them.