Experiential anatomy is an embodied learning method integrating interoceptive awareness and conscious movement to empower whole-person healing. This subjective and holistic approach views the body as a doorway into deeper self-awareness and self-understanding that can strengthen personal agency and restore mind-body balance and health. In this illustrated guide to therapeutic applications of experiential anatomy, yoga therapy is used as a framework for somatic exploration. After introducing key foundational and learning principles, subsequent chapters simplify complex anatomical information into digestible components that are integrated into accessible therapeutic practices. Each experiential chapter contains a wealth of explorations incorporating breath, self-palpation, somatic inquiry, and yoga postures that collectively nurture a felt sense of anatomical parts, their interrelationships, and their connection to the multidimensional Whole. These simple embodied practices motivate self-regulation and awaken inner wisdom. This book will help somatically oriented teachers and therapists work with students and clients to cultivate interoceptive awareness and compassionately repattern habits of breath, alignment, movement, and mind.