“All life is yoga,” says Aadil Palkhivala, quoting one of his teachers, the Indian spiritual master Sri Aurobindo. It’s an apt tagline for someone who credits his birth to the practice. (Palkhivala’s mother struggled to get pregnant. But after she and Palkhivala’s father started practicing yoga with B.K.S. Iyengar, voilà, a son was born!) Palkhivala, a lifelong student of yoga, created a holistic...